Waste collection system with controllers for regulating levels of vacuum drawn on a waste container

ABSTRACT

A waste collection system for collecting medical/surgical waste. A mobile rover includes at least one waste container supported on the mobile rover for storing the medical/surgical waste. A chassis is separate from and configured be removably coupled with the mobile rover. The chassis supports a chassis controller and a vacuum pump configured to draw a vacuum on the waste container. A rover controller is supported on the mobile rover and configured to receive a pressure signal representative of a level of the vacuum. The chassis controller is configured to be in communication with the rover controller and to regulate the level of the vacuum drawn based on the pressure signal. A transmitter may be supported on the mobile rover and in communication with the rover controller, and a receiver may be supported on the chassis to be in communication with the transmitter to establish a communication circuit for data transfer.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of and claims priority to and throughco-pending U.S. patent application Ser. No. 14/691,613, filed on Apr.21, 2015, which is a continuation of Patent Cooperation Treaty Appl. No.PCT/US2013/066101, filed on Oct. 22, 2013, which claims priority to andall the benefits of U.S. Provisional Patent Appl. No. 61/717,793, filedon Oct. 24, 2012. The entire contents of the aforementioned applicationsare hereby incorporated by reference.

FIELD OF THE INVENTION

This invention relates generally to waste collection systems for thecollection of medical waste generated during medical and surgicalprocedures. More particularly, this invention relates to a wastecollection system that is easily transportable within a surgicalfacility and that can hold a large volume of medical waste.

BACKGROUND OF THE INVENTION

A byproduct of the performance of some medical and surgical proceduresis the generation of liquid, semi-solid and solid waste. This wasteincludes body fluids, such as blood, and irrigating solutions that areintroduced to the body site at which the procedure is performed. Solidand semisolid waste generated during a procedure includes bits of tissueand small pieces of the surgical material that may be left at the site.Ideally, the waste is collected upon generation so it neither fouls thesurgical site nor becomes a biohazard in the operating room or otherlocation at which the procedure is being performed.

A number of systems are available for use by surgical personnel forcollecting this waste as it is generated. Generally, these units includea suction source, tubing that extends from the suction source and acontainment unit between the tubing and the suction source. When thesystem is actuated, waste is drawn through the opening end of thetubing. The suction draws the waste through the tubing so that it flowsinto and is stored in the containment unit. One such system isApplicants' Assignee's NEPTUNE surgical waste collection system. Thisparticular system includes a mobile unit that includes a suction pumpand two canisters. Tubing is connected to each canister through aremovable manifold. Since this unit is mobile, it can be positioned inrelatively close proximity to the patient on which the procedure isbeing performed. This reduces the extent to which the suction tubing,which invariably also functions as operating room clutter, is presentaround the surgical personnel. This system is wheeled away from thesurgical location or operating room to a docking station to be emptiedand cleaned. This system also has features that reduce the extent towhich the surgical and support personnel are potentially exposed to thematerials collected by the system. U.S. Pat. No. 7,621,898, issued Nov.24, 2009, the contents of which are incorporated herein by reference,describes a number of features of this system.

The prior art waste collection systems have many advantages. There aresome limitations that diminish their utility. First, because the suctionpump is mounted to the mobile unit, where limited space is available fornoise abatement materials and treatment methods, higher than desirednoise levels may be present in close proximity to the surgical area.Second, current versions of the waste collection system can store on theorder of 24 liters of medical/surgical waste. The weight of the mobileunit, with the containers filled close to capacity can be difficult forsome medical personnel to move between the surgical location oroperating room and the docking station.

SUMMARY OF THE INVENTION

This invention is directed to a new and useful waste collection systemfor the collection of medical waste generated during medical andsurgical procedures. The system of this invention includes a mobilerover that can be selectively coupled and uncoupled with a mobilechassis. The mobile chassis has a chassis vacuum coupler and the mobilerover has a rover vacuum coupler. The rover vacuum coupler isconnectable with the chassis vacuum coupler to form a vacuum sealbetween the mobile chassis and the mobile rover. A waste container ismounted to the mobile rover and is coupled with one or more suctionlines. A vacuum source is mounted to the mobile chassis. The vacuumsource provides a suction fluid communication path from the surgicalsite through the suction lines, the waste container, the rover vacuumcoupler and the chassis vacuum coupler.

In many versions of this invention, the system also includes a staticdocker. The rover and docker are provided with complementary fluidcouplings. The rover couplings are connected to a line through whichwaste fluid is transported for disposal.

The system of this invention is used by first positioning the chassis,with the rover attached, adjacent the location where themedical/surgical procedure is to be performed. A suction applicator andtubing is connected to the rover waste container. The chassis suctionpump is actuated. The suction pump draws a suction on the suctionapplicator through the waste container. As a consequence of the suctiondraw, waste is drawn through the applicator and temporarily stored inthe container.

When it is desired to empty the rover waste container, the rover isdisconnected from the chassis. The rover is then moved to the docker.Once the rover is docked to the docker, the rover container is emptied.The waste is transferred through the docker fluid couplings into theconnected disposal lines. Moving components from the mobile unit (Rover)to the chassis that stays in the OR reduces the weight and size of thedevice that is moved back and forth to the docker.

In an alternative version of the system of this invention, the chassis,the unit to which the suction pump is mounted is static. In theseversions of the invention, prior to the start of the procedure, therover is positioned to be mated to the chassis. During the procedure,the rover stays static with the chassis. When it is desired to empty thecontainer, the rover is manually pushed from the chassis to the docker.

It is a further feature of this invention that the chassis functions asan instrument rack. More particularly, the chassis holds medicalequipment, often power consoles that are used during the procedure inwhich the waste collection unit is employed. Since the power consoles orracked equipment used in a procedure are a function of the procedure,the chassis is designed so that this equipment can be removably attachedto the chassis. Thus, the chassis is loaded with the equipment neededfor the specific procedure prior to the start of the procedure.

When compared to having a separate equipment cart, combining theequipment rack with the chassis reduces the overall footprint occupiedin the operating room. This creates additional valuable space around thesurgical table and reduces clutter. Locating equipment in the samelocation as the surgical suction device simplifies routing of tubes andwires. The equipment rack reduces the number of power cords going to thewall, thereby eliminating trip hazards and making the positioning ofother wheeled equipment easier in the operating room.

In versions of this invention wherein the chassis is a mobile chassis,the chassis thus serves as the device that is used to adjustablyposition not just the waste collection rover but, also the attachedequipment, so it is in a position in the procedure room that thepersonnel using the equipment find most useful for the procedure.

A feature of the system of this invention is that different rovers can,at different times, be docked to the same docker. A medical facilitythat employs the system of this invention can have plural rovers andplural chasses. Given that the individual rovers can be docked to thecommon docker, the system of this invention does not require thefacility to provide a separate dedicated docker for each rover. In somefacilities, it may only be necessary to provide a single docker forreceiving the waste from all of the rovers. Another feature of thesystem of this invention is that different size rovers can be mated withthe same chassis. The different size rovers can hold different amountsof medical waste.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is pointed out with particularity in the claims. The aboveand further features and advantages of the invention are understood bythe following Detailed Description taken in conjunction with theaccompanying drawings in which:

FIG. 1 is a rear perspective view of a medical/surgical waste collectionsystem of this invention showing the mobile rover separated from themobile chassis in accordance with one embodiment;

FIG. 2 is a front perspective view of the medical/surgical wastecollection system illustrating the mobile rover mated with the mobilechassis in accordance with one embodiment;

FIG. 3 is a diagrammatic view of the suction fluid communication pathsaccording to one embodiment;

FIG. 4 is a block diagram view of the medical/surgical waste collectionsystem of this invention and a static docker;

FIG. 5 is a rear perspective view of the mobile chassis with the coversremoved;

FIG. 6 is a rear perspective view of the mobile chassis with the upperframe and covers removed;

FIG. 7 is a front perspective exploded view of the mobile chassis withthe upper frame and covers removed;

FIG. 8 is an enlarged view of the mobile chassis power coupler;

FIG. 9 is a cross-sectional view of the mobile chassis vacuum coupler;

FIG. 10 is a front perspective view of a mobile rover according to oneembodiment;

FIG. 11 is an enlarged front perspective view of the bottom section ofthe mobile rover of FIG. 10;

FIG. 12 is an exploded perspective view of the upper and lower wastecontainers;

FIG. 13 is an exploded perspective view of the upper waste containercap;

FIG. 14 is an assembled perspective view of the upper waste containercap;

FIG. 15 is an enlarged cross-sectional perspective view of the mobilerover vacuum coupler;

FIG. 16 is an enlarged cross-sectional view of the mobile rover vacuumcoupler;

FIG. 17A is a front perspective view of the mobile rover inner hub;

FIG. 17B is a rear perspective view of the mobile rover inner hub;

FIG. 17C is a cross-sectional view of the mobile rover inner hub;

FIG. 18 is a cross-sectional view of the mobile rover outer hub;

FIG. 19 is a cross-sectional view of the mobile rover face seal;

FIG. 20 is a cross-sectional view of the mobile rover check valve;

FIG. 21 is an exploded view of the mobile rover power coupler;

FIG. 22 is a diagrammatic view of the water and drain fluidcommunication paths according to one embodiment;

FIG. 23 is a schematic diagram of the electrical and control system ofthe waste/surgical waste collection system of the present invention;

FIG. 24 is an enlarged cross-sectional view of the mobile chassis vacuumcoupler mated with the mobile rover vacuum coupler;

FIG. 25 is a perspective view of an alternative embodiment of amedical/surgical waste collection system in accordance with the presentinvention showing the mobile rover separated from the mobile chassis;

FIG. 26 is a front perspective view of another alternative embodiment ofa chassis used in an alternative embodiment of a medical/surgical wastecollection system;

FIG. 27 is a front perspective view of another alternative embodiment ofa mobile rover used with the chassis of FIG. 26;

FIG. 28 is a diagrammatic view of the suction fluid communication pathsof the chassis and mobile rover of FIGS. 26 and 27 used in analternative embodiment of a medical/surgical waste collection system;

FIG. 29 is a perspective view of the medical/surgical waste collectionsystem of FIGS. 26 and 27 showing the mobile rover separated from thechassis with the covers removed;

FIG. 30 is a perspective view of the medical/surgical waste collectionsystem of FIG. 29 showing the mobile rover mated with the chassis andthe covers removed;

FIG. 31 is an enlarged perspective view of the chassis power coupler,vacuum coupler and floating mechanism;

FIG. 32 is an enlarged cross-sectional view of the vacuum coupler ofFIG. 31;

FIG. 33A is a perspective view of a disposable inlet fitting;

FIG. 33B is a cross-sectional view of the disposable inlet fitting ofFIG. 33A;

FIG. 33C is a perspective view of another embodiment of a disposableinlet fitting;

FIG. 34 is an enlarged cross sectional view of a control valve and thedisposable inlet fitting mounted to an inlet receiver;

FIG. 35 is a perspective view of an inlet manifold assembly mounted tothe chassis;

FIG. 36 is a cross sectional view of the inlet manifold;

FIG. 37 is a rear perspective view of the mobile rover of FIG. 29according to one embodiment;

FIG. 38 is a cross-sectional view of the mobile rover of FIG. 37;

FIG. 39 is an enlarged perspective view of a canister cap;

FIG. 40 is an enlarged cross-sectional view of the chassis waste couplermated with the corresponding mobile rover upper waste coupler;

FIG. 41 is an enlarged perspective view of the bottom of the mobilerover of FIG. 37;

FIG. 42 is an enlarged cross-sectional view of the mobile rover vacuumcoupler;

FIG. 43 is a diagrammatic view of the water and drain fluidcommunication paths according to one embodiment;

FIG. 44 is a schematic diagram of the electrical and control system ofthe waste/surgical waste collection system of FIGS. 26 and 27;

FIG. 45 is an enlarged cross-sectional view of the chassis vacuumcoupler mated with the mobile rover vacuum coupler; and

FIG. 46 is a perspective view of an alternative embodiment of a chassis.

DETAILED DESCRIPTION I. Overview

FIGS. 1-4 illustrate a medical/surgical waste collection system 50constructed in accordance with this invention. Waste collection system50 comprises a mobile chassis 100 and a mobile rover 1000. Mobile rover1000 is mated with the mobile chassis 100 and is located in an operatingroom/surgical/medical care area 52 (FIG. 4) during use. Mobile chassis100 is sometimes called a suction cart 100. Mobile rover 1000 issometimes called a container cart or a mobile waste collection cart1000.

With specific reference to FIG. 2, mobile rover 1000 includes a pair ofmanifolds 1260. Manifolds 1260 are formed with a number of fittings1261. Manifolds 1260 are disclosed in further detail in the incorporatedby reference U.S. Pat. No. 7,615,037. The exact structure of themanifolds is not part of this invention.

Fitting 1261 can receive a suction line 60 and the other fitting 1261can receive another suction line 64. The distal end of each suction line60 and 64 is attached to a suction applicator hand piece 62 and 66,respectively. In this application, “distal”, generally refers to towardsthe surgical site at which the suction is applied and “proximal” refersto away from the surgical site. In some embodiments, suction applicatorhand piece 62 and 66 can be built into another surgical tool, such as asurgical drill or biopsy tool or ablation tool, applied to a surgicalsite to accomplish a task other than applying suction.

FIG. 3 illustrates a pair of continuous suction fluid communicationpaths 70 and 72 that are formed from the suction applicator 62 or 66 tothe suction or vacuum pump 210 by the combination of mobile chassis 100and mobile rover 1000. When vacuum pump 210 is in operation, theresultant suction draws waste matter into the respective suctionapplicator 62 or 66. The waste stream associated with suction fluidcommunication path 70 travels from the suction application 62, intomobile rover 1000 through manifold 1260 and into waste container 1200.The waste stream associated with suction fluid communication path 72travels from the suction application 66, through manifold 1260 and intowaste container 1202. Fluid communication paths 70 and 72 are sometimescalled suction paths.

Liquid and small solid bits of matter entrained in this flow stream,that are not trapped in the manifold 1260 internal filter, precipitateout of the stream into respective waste containers 1200 or 1202. Thewaste is thus stored in the respective waste containers 1200 or 1202until the canister is emptied. Gas and any matter entrained in this gasflow stream flow from the respective waste container 1200 or 1202through check valves 1700 exiting the mobile rover 1000 and into themobile chassis 100 through rover suction or vacuum couplers 1600 andchassis suction or vacuum couplers 400. Check valves 1280 are connectedin parallel with respective suction fluid communication paths 70, 72 inorder to provide an alternative means for supplying suction to wastecontainers 1200 and 1202.

A pressure sensor 1698 is in fluid communication with suction fluidcommunication path 70 to measure the level of vacuum drawn on thesuction fluid communication path 70 and by extension container 1200.Pressure sensor 1698 generates a pressure signal that is corresponds tothe vacuum level in suction fluid communication path 70. Similarly,another pressure sensor 1699 is in fluid communication with suctionfluid communication path 72 in order to measure the level of vacuumdrawn on the suction fluid communication path 72 and by extensioncontainer 1202. Pressure sensor 1699 generates a pressure signal thatcorresponds to the vacuum level in suction fluid communication path 72.While pressure sensors 1698 and 1699 are shown mounted betweencontainers 1200, 1202 and check valves 1700, pressure sensors 1698 and1699 can be mounted anywhere in their respective suction fluidcommunication paths 70, 72 downstream of vacuum regulators 222 and 224.In one embodiment, pressure sensor 1698 is mounted in container 1200 andpressure sensor 1699 is mounted in container 1202. In anotherembodiment, pressure sensors 1698 and 1699 are mounted in chassis cart100 downstream of vacuum regulators 222 and 224.

Within mobile chassis 100, suction fluid communication path 70 includeschassis vacuum coupler 400, vacuum regulator 222, check valve 226, HEPAfilter 232 and vacuum pump 210. Suction fluid communication path 72 inmobile chassis 100 includes chassis vacuum coupler 400, vacuum regulator224, check valve 228, HEPA filter 232 and vacuum pump 210. A noiseattenuator or exhaust muffler 236 is connected with vacuum pump 210 inorder to reduce the noise level associated with the operation of vacuumpump 210.

Turning to FIG. 4, after use, the mobile rover 1000 is uncoupled fromthe mobile chassis 100 and moved from the operating room/surgical area52 to a static docking station or docker 900. The static docker 900 istypically located remote from the operating room/surgical area 52. Inone embodiment, static docker 900 is located proximate to severaloperating room/surgical areas 52 such that one or more mobile rovers1000 can readily be emptied.

The rover 1000 and docker 900 are provided with complementary fluidcouplings. When the rover 1000 is docked to the docker 900, these fluidcouplings connect. These fluid couplings and the conduits internal tothe docker 900 establish a fluid connection path from the rovercontainers 1200 and 1202 into the plumbing lines internal to the medicalfacility through which waste is transported for disposal.

When the rover is docked to docker 900, the waste in the rovercontainers is emptied through the docker. The docker also includescomponents that clean the mobile rover containers 1200 and 1202. Theincorporated by reference U.S. Pat. No. 7,621,898, provides more detailabout the structure of a docker and one set of rover to dockercouplings. The exact structure of the docker and these couplings is notpart of the present invention.

II. First Embodiment A. Mobile Chassis

Turning to FIGS. 1 and 2, mobile chassis 100 of the first embodiment ofthis invention is illustrated. Mobile chassis 100 comprises a generallyrectangular lower chassis 102 and a generally rectangular upper chassis104. Upper chassis 104 is supported above lower chassis 102 by a pair ofspaced apart supports 106. Lower chassis 102 has outer covers 107 and108. Outer cover 108 includes a U-shaped front panel 109, rear panels110, inner panels 111 and outer panels 112. Upper chassis 104 has anouter cover 114 that includes a front panel 115, a pair of rear doors116, side panels 117, 118, top panel 119 and bottom panel 120. Frontpanel 115 has several rectangular shaped openings 121. An interiorcavity 122 is defined within upper chassis 104.

Covers 107, 108, 114 and doors 116 can be formed from injection moldedplastic or other suitable materials and are attached to lower chassis102 and upper chassis 104 by suitable methods such as through the use offasteners. Covers 107, 108, 114 and doors 116 are used to protect theinternal components of mobile chassis 100 and to provide improved visualaesthetics. Doors 116 provide access to component rack 138 at the rearof mobile chassis 100.

A receptacle or void space 124 is defined between inner panels 111 andbottom panel 120. Void space 124 receives mobile rover 1000 when mobilerover 1000 is mated to mobile chassis 100. A U-shaped cutout 126 islocated in panels 109 and 111 so mobile rover container 1202 is visibleto medical personnel. A power coupler 500 extends away from front panel109 into opening 124. Power coupler 500 provides electrical power tomobile rover 1000.

Wheels 130 are attached to lower chassis 102 below cover 107. Wheels 130allow mobile chassis 100 to be transported and to be easily moved withinan operating room/surgical area. Wheels 130 include a braking mechanism132 that locks wheels 130 in a static position. Braking mechanism 132allows mobile chassis 100 to be selectively put in an immobilizedposition within the operating room.

Two spaced apart handles 134 are positioned on opposite sides of upperchassis 104 and extend in a distal direction perpendicularly away fromfront panel 115. Handles 134 allow medical personnel to grasp and movemobile chassis 100. A pair of pivotable wire/hose support rods 136 withU-hooks extend away from side panel 117. Rods 136 are rotatable towardand away from side panel 117. Rods 136 allow medical personnel toposition wires and hoses (not shown) connected to mobile chassis 100 ina bundled and unobtrusive position. Rods 136 also may be used to holdbags of IV fluid, irrigant, or distending solution.

Upper chassis 104 includes a component rack 138. Component rack 138holds a variety of medical/surgical instruments, instrument consoles ormodules 140. For example, component rack 138 can contain equipment,instrument consoles or modules such as an irrigation pump console, aninsufflator module, a fiber optic light module or any other suitablesurgical instrument or module. Rack 138 has several rectangular shapedcompartments 142 that are formed by elongated side rails 143 and crossrails 144. Compartments 142 extend through rack 138 between frontopenings 121 and rear openings 139. Modules 140 can be slid intocompartments 142 when doors 116 are in an open position as shown inFIG. 1. After modules 140 are mounted in rack 138, the front face of themodules 140 are visible through openings 121.

Upper chassis 104 further includes a power strip 146 through which poweris supplied to modules 140. Power strip 146 is mounted to rack 138 incavity 122. Power strip 146 is connected to an external source of powerthrough power cord 147 and power plug 148. Power strip 146 has severalconnectors 150 that are connected with wires 152 to supply power tomodules 140. Another power cord 154 and power plug 156 supply power toother components of mobile chassis 100. Power cords 147 and 154 arebundled together for a portion of their length by a sheath 157 foreasier handling and less clutter. Multiple power plugs 148 and 156 areused to reduce potential excess current loads on electrical circuits inthe medical facility. The chassis controller 802 (FIG. 23) can ensureboth plugs 148,156 are attached to different circuits by imposing a highfrequency voltage signal on one of the plugs and monitoring the strengthof the signal conducted to the other plug.

Upper chassis 104 has a display assembly or control panel 162 mounted tofront panel 115 and a control module 164 that contains electroniccomponents such as a controller or micro-processor for controlling theoperation of chassis 100 and coordinating the operation of surgicalmodules 140 with each other and chassis 100. Power cord 154 suppliespower to mobile chassis 100 components other than surgical modules 140.Surgical modules 140 communicate with each other through cables thatmake up a bus 168. Surgical modules 140 are in electrical communicationwith each other and with control panel 162 through bus 168. In someversions of the invention, the modules communicate with each other usingthe IEEE 1394a Firewire System Architecture. The specific means by whichthe modules communicate with each other is not part of the presentinvention. Combining the equipment rack 138 with the chassis 100 reducesthe overall footprint occupied in the operating room. This createsadditional valuable space around the surgical table and reduces clutter.Locating medical equipment in the same location as the chassis 100simplifies the routing of tubes and wires. The equipment rack 138reduces the number of power cords going to the wall, thereby eliminatingtrip hazards and making the positioning of other wheeled equipmenteasier in the operating room.

With reference to FIG. 5, further details of upper chassis 104 areillustrated. The covers 107, 108 and 114 that normally conceal thecomponents of lower chassis 102 and upper chassis 104 are not present inFIG. 5 so that the internal components can be seen. Rack 138 issupported above frame 180 by a pair of spaced apart parallel elongatedsupport posts 196 that have ends 197 and 198. Ends 197 are affixed toframe 180. Support posts 196 extend perpendicularly upward away fromframe 180. Rack 138 is affixed to ends 198. Support posts 196 can beformed from any suitable material such as steel and are mounted to frame180 and rack 138 by suitable methods such as welding or through the useof fasteners.

Turning to FIG. 6, further details of lower chassis 102 are illustrated.The upper chassis 104, supports 106, posts 196 and covers 107 and 108that normally conceal the components of lower chassis 102 are notpresent in FIG. 6 so that the internal components of mobile chassis 100can be seen. Lower chassis 102 comprises a generally planar U-shapedframe 180. Frame 180 has a central portion 182 and a pair of arms 184and 186 that extend generally perpendicularly away in a proximaldirection from central portion 182. Arms 184 and 186 are approximatelythe same length; however, arm 186 is wider than arm 184. Arms 184 and186 are angled such that the distance between arms 184 and 186 isgreater at the proximal ends of arms 184 and 186 than it is adjacent tocentral portion 182. The angling of arms 184 helps to guide mobile rover1000 into opening 124 when mobile rover 1000 is mated with mobilechassis 100.

Frame 180 has an upper surface 187, a lower surface 188 and a peripheralrim 190 that encircles the outer periphery of frame 180 and extendsperpendicularly upwards. Central portion 182 and arms 184, 186 define aportion of void space 124 there between. Frame 180 can be formed fromany suitable material such as stamped sheet steel. Four wheels 130 areattached to the bottom of frame 180 towards the four corners and allowrolling movement of chassis 100.

A vacuum pump and filter assembly 200 for providing a vacuum source andfiltering is mounted to frame 180. Vacuum pump and filter assembly 200comprises a vacuum source or pump 210, vacuum regulator assembly 220 andfilter assembly 230. Specifically, vacuum pump 210 is mounted to theupper surface 187 of arm 186 toward the center of arm 186 usingfasteners 212. In one embodiment, vacuum source 210 is a rotary vanetype vacuum pump. One such vacuum pump is a Gast 1023 Series 12 CFMrotary vane vacuum pump, Part No. 1023-318Q-G274AX, available from GastManufacturing, Incorporated, a unit of IDEX Corporation of Northbrook,Ill.

A support structure 240 is mounted to vacuum pump 210 using fasteners(not shown). Vacuum regulator assembly 220 and filter assembly 230 aremounted to support structure 240 using fasteners (not shown). Vacuumregulator assembly 220 integrates vacuum regulators 222, 224 (FIG. 3)and check valves 226, 228 (FIG. 3) into a single unit. Filter assembly230 integrates HEPA filter 232 and vacuum relief valve 234 into a singleunit. Additional details of features of vacuum manifold 220 and filterassembly 230 are disclosed in U.S. Pat. No. 7,621,898, issued Nov. 24,2009, the contents of which are incorporated herein by reference. A pairof vacuum hoses 242 are connected between vacuum regulator assembly 220and filter assembly 230. Another vacuum hose 244 connects vacuum pump210 to filter assembly 230.

An insulating shell 250 encloses vacuum and filter assembly 200.Insulating shell 250 attenuates noise generated by the vacuum componentsincluding vacuum pump 210. Insulating shell 250 is generally rectangularin shape and includes five panels 252. Panels 252 define an internalchamber 256 therein. The interior walls of insulating shell 250 arecovered with sound deadening insulation 258. Insulating shell 250 isformed from sheet metal, cast metal, plastic, or other suitablematerial. Insulating shell 250 is mounted over vacuum and filterassembly 200 and is fastened to the frame 180 by fasteners (not shown).

With additional reference to FIG. 7, mobile chassis (suction cart) 100includes a floating cart coupling feature or floating coupler 300.Floating coupler 300 provides six degrees of freedom for the belowdescribed chassis vacuum coupler 400 and a chassis power coupler 500 tomove relative to chassis frame 180. As described below, this movementfacilitates electrical and suction coupling of the mobile rover 1000 tothe mobile chassis 100. The flexibility provided by this floatingcoupler automatically aligns the rover and chassis portions of themating components even in situations where the OR floor is unlevel ornot flat. This allows for rapid mating of the rover to the chassiswithout the user touching dirty or potentially contaminated vacuumcouplings, speeding surgical setup.

Floating coupler 300 includes a trapezoidal shaped bracket 302 that hasa bent flange 306 extending from one end. Three apertures 304 extendthrough bracket 302. Support posts 310 have a threaded end 312 and anopposite end with a disc shaped head 314. Three coils springs 316 arecompressed between bracket 302 and upper surface 187 of frame 180.Specifically, supports posts 310 extend through apertures 304 and aresurrounded by coil springs 316. Threaded ends 312 extend through holes318 in frame surface 187. Nuts 320 secure threaded ends 312 to retainsupports posts 310 to the chassis frame 180.

Springs 316 are longer in length than posts 310. Bracket apertures 304are larger in diameter than the outer diameter of the posts 310 andsmaller in diameter than post heads 314. The springs 316 extend fromframe surface 187 over posts 310 and press against the undersurface ofcoupler bracket 302. Springs 316 thus hold bracket 302 above framesurface 187. The upward motion of the bracket 302 is limited by theabutment of the upper surface of bracket 302 against post heads 314.Given that the bodies of posts 310 are smaller in diameter than thebracket apertures 304, the bracket is able to move both translationallyand rotationally in three axes relative to the posts 310 and byextension, frame 180.

A rectangular shaped and vertically oriented wall 324 has a frontsurface 326 and a rear surface 328. Wall 324 is attached to flange 306of bracket 302 such that bracket 302 is generally perpendicular to wall324. Wall 324 is formed from sheet metal and affixed to flange 306 bysuitable methods such as welding or using fasteners. A bottom portion330 of wall 342 extends over rim 190 in a region adjacent to void space124. A pair of bores 334 are located toward the lower center of the wall324 and extend therethrough. Each of bores 334 are surrounded by fourequidistant apertures 336. Two additional apertures 338 are locatedtoward one side of wall 324.

Another L-shaped bracket 350 is mounted to the front surface 326 of wall324. Referring to FIG. 8, bracket 350 includes a horizontal plate 352, afirst vertical plate 354, a second vertical plate 356 and an angledsection 358 located between horizontal plate 352 and the first verticalplate 354. Horizontal plate 352 is generally perpendicular to verticalplates 354 and 356. The first vertical plate 354 and the second verticalplate 356 are parallel and spaced slightly apart from each other. Oneend of horizontal plate 352 is attached to front surface 326 of wall324. Horizontal plate 352 is attached to front surface 326 by welding orthrough the use of fasteners. A first rectangular shaped passage 360 isdefined in first vertical plate 354 and a second rectangular shapedpassage 362 is defined in second vertical plate 356. Passages 360 and362 are coaxial with each other.

Turning back to FIGS. 6 and 7, floating coupler 300 further includes acover or shroud 370. Shroud 370 encloses and protects chassis powercoupler 500. Brackets 302, 350, wall 324 and shroud 370 can be formedfrom sheet metal or plastic materials. Shroud 370 is generally U-shapedand includes upright walls 372, a bottom wall 374 and two angledsections 376. Upright walls 372 are attached to bracket plate 352 bysuitable methods such as by fasteners. Angled sections 358 and angledsections 376 assist with centering mobile rover 1000 into mobile chassis100 when mobile chassis 1000 and mobile rover 100 are mated. Bracket 350extends slightly beyond walls 372 to define a ridge or lip 377.

Floating coupler 300 allows chassis vacuum coupler 400 and chassis powercoupler 500 to rotate and move slightly up, down, sideways and in distaland proximal directions in order to more easily be aligned withcorresponding mating features of mobile rover 1000. In particular, coilsprings 316 allow brackets 302, wall 324 and shroud 370 to tilt and moveslightly in position relative to frame 180. As a result, chassis vacuumcoupler 400 and chassis power coupler 500 can move in all directionsagainst the bias of coil springs 316 to facilitate mating with mobilerover 1000.

Floating coupler 300 includes two chassis vacuum couplers 400 that aremounted to wall 324. With reference to FIG. 9, each chassis vacuumcoupler 400 comprises a chassis inner hub 410, electromagnet 420,chassis outer hub 430 and elbow fittings 450. Inner hub 410 is generallyspool-like in shape and has an annular outer surface 412 and an annularinner surface 413 that defines a bore 411. A distal extending boss 414is located on one side of inner hub 410. Boss 414 fits into wall bore334. An annular cavity 415 is defined in annular outer surface 412. Wirewindings 422 are located in cavity 415 and form electromagnet 420 whenelectrical power is applied to wire windings 422. While electromagnet420 is shown as an electro magnet, in one embodiment, electromagnet 420can be a permanent magnet. Internal threads 416 are formed in the innersurface 413 beginning at the end of boss 414 and extending along innersurface 413 approximately one half the length of bore 411.

Inner hub 410 and outer hub 430 are formed from a ferromagnetic materialsuch as steel such that when electromagnet 420 is energized, inner hub410 and outer hub 430 produce a magnetic field. Ring shaped outer hub430 has faces 432 and 434 and an annular step 435. Face 434 is mountedadjacent to and in contact with wall surface 326. Outer hub 430 furtherincludes an annular rim 436 that extends away from face 434 into bore334. Four threaded bores 438 are defined in face 434. Threaded fasteners444 are received by threaded bores 438 in order to retain outer hub 430to wall 324. A bore 440 extends through the center of outer hub 430between faces 432 and 434 and is defined by an inner surface 442.Annular outer surface 412 and inner surface 442 are tapered such thatinner hub 410 is retained by outer hub 430. In another embodiment, innerhub 410 is press fit or connected by an adhesive to outer hub 430.

An elbow fitting 450 is connected to each inner hub 410. Elbow fitting450 has a threaded end 452 with threads 453 that is mated with inner hubthreads 416. The other end of each elbow fitting 450 is connected withvacuum hoses 246 (FIG. 7). Each Vacuum hose 246 extends between elbowfitting 450 and a corresponding fitting on vacuum manifold 220.

Returning to FIG. 8, further details of chassis power coupler 500 areillustrated. Chassis power coupler 500 transfers electrical power via aninductive coupling from chassis 100 to rover 1000. Chassis power coupler500 includes a ferrite core 508 wound with wire windings 510 both ofwhich are mounted in plate openings 360 and 362. Wire windings 510 areconnected to a source of AC power by an electrical cable 520. Electricfilters 530 disposed around cable 520 reduce the emission of electricalnoise that results from the transmission of electrical signals to therover. A cover 540 formed from an insulating material covers windings510. When mobile rover 1000 is mated to mobile chassis 100, powercoupler 500 supplies electrical power to mobile rover 1000 through aninductive coupling of winding 510 with another winding in mobile rover1000. This allows rover components, such as valves, lights, and fluidvolume measurement sensors, to be powered without the user making aseparate electrical connection manually.

With reference to FIGS. 6 and 7, mobile chassis 100 further includes achassis data communication module 600. Chassis data communication module600 facilitates the exchange of data and information between mobilechassis 1000 and mobile rover 100. Chassis data communication module 600comprises a printed circuit board 610 that contains an electroniccommunication circuit 620. Electronic communication circuit 620 issometimes called a signal coupling circuit. Printed circuit board 610 ismounted to the rear surface 328 of wall 324. Communication circuit 620is connected to an infrared light emitting diode (IRLED) transmitter 630and receiver 640. IRLED transmitter 630 and receiver 640 are mounted toprinted circuit board 610 and extend through wall apertures 338 suchthat IRLED transmitter 630 and receiver 640 face in a proximaldirection. Because IRLED transmitter 630 and receiver 640 are mounted tofloating coupler mechanism 300, IRLED transmitter 630 and receiver 640self-align with a corresponding rover data communication module whenrover 1000 is coupled to chassis 100.

B. Mobile Rover

Referring to FIG. 10, waste collection system 50 further includes amobile rover 1000 that is mated to and disconnected from chassis 100. InFIG. 10, the covers that normally conceal the internal components ofmobile rover 1000 are not present to more clearly view the internalcomponents. Mobile rover 1000 includes upper 1200 and lower 1202 wastecontainers. A frame 1204 supports lower waste container 1202 which inturn supports upper waste container 1200. Upper waste container 1200 ismounted above lower waste container 1202 such that waste material in theupper container 1200 can be emptied into the lower container 1202 usinggravity. While two waste containers 1200, 1202 are shown in FIG. 10, insome embodiments, mobile rover 1000 can have only one waste container.

With additional reference to FIG. 11, frame 1204 comprises a planarrectangular shaped mobile base 1206, a U-shaped support member 1208. Thecomponents of frame 1204 can be formed from metals such as steel. Base1206 includes a top surface 1207 and a bottom surface 1209. Supportmember 1208 is mounted to the top surface 1207. The lower wastecontainer 1202 has a bottom support ring 1210 that is affixed to supportmember 1208. Four wheels 1212 are mounted to the bottom of base 1206 toallow rolling movement of the mobile rover 1000.

Returning to FIGS. 1 and 2, the base 1206 is covered by a cover 1002. Afront cover 1004 is mounted over the front of waste containers 1200 and1202 and a rear cover 1006 is mounted over the rear of waste containers1200 and 1202. Handle 1010 has a grasp bar 1012 and arms 1014 that areattached to frame 1204. An input device such as a release button 1015 ismounted to grasp bar 1012. Button 1015 deactivates electromagnets 420(FIG. 9) that retains mobile rover 1000 to mobile chassis 100. Medicalpersonnel can use handle 1010 to position mobile rover 1000 by pushingor pulling. Transparent windows 1020 and 1022 are formed in front cover1002 allowing a user to visually check the contents of waste containers1200 and 1202.

Covers 1002, 1004, 1006 and handle 1010 are formed from molded plasticand are attached to frame 1204 and waste containers 1200 and 1202 bysuitable methods such as through the use of fasteners. Covers 1002, 1004and 1006 are used to protect the internal components of mobile rover1000 and to provide improved visual aesthetics.

Referring specifically to FIG. 10, the upper waste container 1200comprises an upper canister 1218 that is slightly frusto-conical inshape, but appears cylindrical. The upper canister 1218 defines an upperwaste chamber 1220 for holding medical/surgical waste. An upper cap 1222covers the upper canister 1218 enclosing upper waste chamber 1220. Thelower waste container 1202 comprises a lower canister 1224 that is alsoslightly frusto-conical in shape. The lower canister 1224 defines alower waste chamber 1226 for holding waste material. A lower cap 1228covers the lower canister 1224 to enclose the lower waste chamber 1226.

Lower canister 1224 has a relatively large interior volume, betweenapproximately 10 and 40 liters. Upper canister 1218 has a smallervolume, between approximately 1 and 10 liters. While, canisters 1218 and1224 are shown having a frusto-conical shape, other shapes may be used.Canisters 1218, 1224 and caps 1222, 1228 are formed from molded plasticat least a portion of which is transparent. Structural support andmounting features 1225 are formed on the external surface of upper cap1222 and lower cap 1228 to provide further rigidity to the caps 1222,1228, to prevent collapse and to allow other components to be attachedto caps 1222 and 1228.

With additional reference to FIG. 12, each of the canisters 1218, 1224includes a bottom 1230 and 1232, respectively. Outer walls 1234 and1236, respectively, extend upwardly from the bottoms 1230, 1232 to anopen end. Annular rims 1238 and 1240, respectively, extendcircumferentially around each of the outer walls 1234 and 1236 at theopen ends. Grooves 1242, 1244, respectively are defined in rims 1238,1240. An elastomeric seal 1246, 1248 is disposed in each of the grooves1242, 1244 to seal the caps 1222, 1228 to the canisters 1218, 1224.

Each of the caps 1222, 1228 is generally dome-shaped with a peripherallip 1250 and 1252, respectively, that engages the rims 1238, 1240 of thecanisters 1218, 1224 with the elastomeric seals 1246, 1248 trapped therebetween. A V-clamp 1254, 1256, respectively, secures the caps 1222, 1228to the canisters 1218, 1224 by clamping the peripheral lips 1250, 1252to the rims 1238, 1240.

Manifold receivers 1258 are mounted to each of the caps 1222, 1228. Themanifold receivers 1258 are adapted to receive disposable manifolds 1260(see FIG. 2), which direct waste material from one or more surgicalsites in proximity to a patient, through suction lines 60, 64 (see FIG.2) into waste containers 1200, 1202. A single suction line 60, 64,respectively is shown attached to each of the disposable manifolds 1260in FIG. 2. Up to four suction lines can be attached to each disposablemanifold 1260. The distal end of suction line 60 is connected to asuction applicator 62 and suction line 64 is connected to a suctionapplicator 66. Suction applicators 62 and 66 may be built into othersurgical tools and instruments that perform additional surgicalprocedures.

In one embodiment, disposable manifolds 1260 include a filter (notshown) to filter the waste material received from the suction lines 60and 66 prior to the waste material entering the canisters 1218 and 1224.

The upper canister bottom 1230 is mounted to a support platform 1211using fasteners (not shown). Support platform 1211 is mounted to lowercanister cap 1228. Specifically, support platform 1211 is mounted tomounting features 1225 on lower canister cap 1228 using fasteners (notshown).

Referring now to FIGS. 13 and 14, additional features of caps 1222 and1228 are shown. In FIGS. 13 and 14, only the upper cap 1222 is shown.The lower cap 1228 has the same features as upper cap 1222, althoughscaled due to the larger canister size.

Internal to each cap 1222, 1228 is a sprinkler port 1172 that isconnected to a sprinkler head 1180. Sprinkler port 1172 and sprinklerhead 1180 are connected to a source of water and cleaning fluids forcleaning waste canisters 1218 and 1224.

Internal to each cap 1222, 1228 is a waste conduit or port 1270. Wasteconduit 1270 functions as a fluid communications path from the manifoldreceivers 1258 into respective canister 1218 or 1224 with which themanifold receiver 1258 is associated. The outlet of conduit 1270 directsthe flow of incoming air and waste material away from a center axis ofthe canisters 1218, 1224 toward the outer walls 1234, 1236 of thecanisters. By directing air and waste toward canister walls 1234 and1236, the resulting disturbance of the fluid surface in the canister isminimized, affording a more accurate measurement of contained fluidvolume. Forcing the air and waste stream toward the canister walls 1234and 1236 also promotes the separation of liquid and air. Fluid particlesentrained in incoming air are much heavier than the air. While the airis able to change direction as it encounters the canister wall, fluidparticles are too heavy to change direction. They impact the canisterwall, sticking due to surface tension, and run down into the bottom ofthe canister.

A vacuum port or conduit 1564 is defined through each of the caps 1222,1228. Ninety degree elbow joints 1500 are mounted to each of the vacuumports 1564. Elbow joints 1500 have one end connected to the vacuum ports1564 and the other end connected to vacuum lines 1496 and 1510 (FIG.10). Elbow joints 1500 can be press fit into vacuum ports 1564 and intovacuum lines 1496 and 1510. The other end of vacuum lines 1496 and 1510are connected to rover vacuum coupler 1600 (FIG. 10).

Each of the caps 1222 and 1228 are provided with a filter and floatassembly 1562 for preventing water droplets and waste material fromentering the vacuum system and vacuum lines 1496, 1510 that couldpotentially clog the vacuum pump 210.

The vacuum port 1564 of the upper cap 1222 opens into a filtercompartment 1566. The filter compartment 1566 is defined by apartitioning wall 1568 that extends downwardly from the bottom of theupper cap 1222. Filter and float assembly 1562 is mounted in filtercompartment 1566.

The filter and float assembly 1562 includes a mist trap 1570 disposed inthe filter compartment 1566. Any fluids such as air passing into thevacuum port 1564 from within the upper canister 1218 must first passthrough the mist trap 1570. The mist trap 1570 is a filter elementhaving a porous structure containing activated carbon material. Aretaining member retains the mist trap 1570 within the filtercompartment 1566. The retaining member includes a vent plate 1574defining a plurality of elongated vents 1576 to allow the fluid to passinto the mist trap 1570. The vent plate 1574 includes an upwardlyextending sleeve 1578.

Float 1580 is formed of plastic or other lightweight materials andslidably supported on sleeve 1578. Float 1580 includes a balloon-likehead 1582 and a neck 1584 extending upwardly from the head 1582 to a tip1586. The neck 1584 slides in the sleeve 1578. Threads are defined ontip 1586. A stem 1590 has threads at one end to engage the threads ontip 1586. The stem 1590 has a shoulder 1594 that traps a seal member1596 between the stem 1590 and the tip 1586. The stem 1590 extends to asecond end away from the neck 1584 that is slidably supported in a boredefined within the upper cap 1222 at a bottom of the vacuum port 1564.

During use of the waste collection system, should the level of the wastematerial in the upper canister 1218 exceed a predetermined threshold,the waste material will lift the float 1580 upwardly and drive thesecond end of the stem 1590 into the vacuum port 1564. Eventually,shoulder 1594 will abut the upper cap 1222 and prevent further upwardmovement of the float 1580. At this point, the seal member 1596 coversthe vacuum port 1564 and mechanically shuts off suction draw from thevacuum pump 210. Waste fluid is thereby prevented from entering thevacuum port 1564 from the upper canister 1218. The float 1580 provides aback-up shut off valve to prevent waste material from being drawn intovacuum pump 210 should an electronic shut-off fail.

FIG. 12 illustrates a transfer valve 1276 disposed between the uppercanister 1218 and the lower canister 1224 to facilitate emptying of thewaste material from the upper canister 1218 to the lower canister 1224via gravity. The transfer valve 1276 can be selectively closed to sealthe vacuum path between the waste containers 1200 and 1202 to allowindependent vacuum regulation. In the open position, waste materialpresent in the upper canister 1218 drains, under the force of gravity,to the lower canister 1224. In the closed position, waste material isretained in the upper canister 1218. In one embodiment, a low level ofvacuum can be drawn by lower canister 1224 to assist with drainage ofwaste material from upper canister 1218 into lower canister 1224. Thetransfer valve 1276 can be a ball valve. Transfer valve 1276 allowsmobile rover 1000 to hold a larger quantity of waste and be used duringseveral medical procedures before emptying is required.

Transfer valve 1276 is moved by a transfer valve actuator or motor 1278.Transfer valve motor 1278 is coupled to the transfer valve 1276 to movethe transfer valve 1276 between an open position in which fluidcommunication occurs between canisters 1218 and 1224 and a closedposition in which fluid communication between canisters 1218 and 1224 isblocked. Transfer valve 1276 and transfer valve motor 1278 are bothmounted to support platform 1211. Additional details of transfer valve1276 and transfer valve motor 1278 are disclosed in the incorporated byreference U.S. Pat. No. 7,621,898.

FIG. 11 illustrates further details of rover vacuum coupling 1600. Aplanar rectangular shaped mounting plate 1300 extends perpendicularlyupwards from top surface 1207 of frame 1204. Mounting plate 1300 isformed from metal and is attached to frame 1204. Mounting plate 1300includes a distal facing surface 1302 and a proximal facing surface1304. Two apertures 1306 (see FIG. 16) are defined toward the top ofmounting plate 1300 and extend entirely through mounting plate 1300.Another pair of smaller diameter apertures 1308 (see FIG. 16) arediametrically opposed to each other on opposite sides of each apertures1306. A rectangular shaped recess 1310 is located toward a bottom edgeof mounting plate 1300 adjacent to frame 1204. Two rover vacuumcouplings 1600 are mounted side by side to mounting plate 1300. Vacuumcouplers 1600 face in a distal direction away from mobile rover 1600 andface towards void space 124 (FIG. 1) when mobile rover 1000 is matedwith mobile chassis 100.

Turning now to FIGS. 15 and 16, cross-sectional views of rover vacuumcoupling 1600 are shown. Rover vacuum coupling 1600 comprises a roverinner hub 1610, rover outer hub 1640, face seal 1660, check valve 1700and elbow fitting 1750. Face seal 1660 surrounds rover outer hub 1640and rover outer hub 1640 surrounds a portion of rover inner hub 1610.Rover inner hub 1610 contains check valve 1700 therein. Check valve 1700prevents the flow of suction fluid from mobile chassis 100 into mobilerover 1000 and only allows suction fluid flow to be drawn from mobilerover 1000 into mobile chassis 100. Check valve 1700 further allowsrover 1000 to be connected to an alternative suction source such as anexternal suction source connected through check valves 1280 (FIG. 3).Check valve 1700 also prevents any residual materials that may bepresent in vacuum coupler 1600 from dripping when mobile rover 1000 isuncoupled from mobile chassis 100.

FIGS. 17A-C illustrate details of rover inner hub 1610. Rover inner hub1610 is generally cylindrical in shape with opposing ends 1611 and 1612and an annular central flange 1614. Central flange 1614 has opposingsides 1615 and 1616. A boss 1618 extends in a distal directionperpendicular to side 1615 and a boss 1619 extends in a proximaldirection perpendicular to side 1616. Bore 1620A is defined in boss 1618by an inner annular surface 1609 and bore 1620B is defined in boss 1619by an inner annular surface 1608. Bores 1620A and 1620B are co-axial. Anannular wall 1625 extends from central flange 1614 partially into andbetween bores 1620A and 1620B.

An annular step 1622 extends in a distal direction from the base of boss1618. An annular groove 1621 is defined in the outer surface of boss1618 adjacent to step 1622. Two diametrically opposed posts 1624 extendperpendicularly from side 1615 on opposite sides of boss 1618.

A portion of boss 1619 is removed to define a cutout 1626. Cutout 1626receives a portion of elbow fitting 1750. A slot 1627 is defined alongthe length of boss 1619. Two diametrically opposed posts 1628 extendperpendicularly from side 1616 in a proximal direction on opposite sidesof boss 1619. A threaded bore 1629 extends into each post 1628 and apair of tabs 1630 extends at an angle away from each of posts 1628. Tabs1630 define an angled slot 1632 there between. External threads 1634 aredefined on the outer surface of boss 1618.

With reference to FIG. 18, rover outer hub 1640 is shown. Rover outerhub 1640 is generally cylindrical in shape with a distal directed face1641 and a proximal directed face 1642. Rover outer hub 1640 has anouter annular surface 1643 adjacent to distal face 1641. An annularflange 1644 extends outwardly from outer annular surface 1643 anddefines a step 1645. Another outer annular surface 1646 is adjacent toproximal face 1642. The diameter of outer annular surface 1643 isgreater than the diameter of outer annular surface 1646. Another step1647 is defined between flange 1644 and outer annular surface 1646. Anangled face 1648 extends outwardly from step 1647 and faces in aproximal direction.

A central thru bore 1650 extends thru rover outer hub 1640 and isdefined by an annular inner surface 1651. Internal threads 1652 aredefined in annular inner surface 1651. Outer hub internal threads 1652mate with inner hub external threads 1634 (FIG. 17A) such that inner hub1610 and outer hub 1640 are affixed to each other. A counter bore 1654extends from proximal face 1642 partially into rover outer hub 1640.Counter bore 1654 is defined by a proximal directed partial conicalsurface 1655. An annular grove 1656 is defined in annular inner surface1651. An annular lip 1658 extends into bore 1650 adjacent to distal face1641.

Rover outer hub 1640 is formed from a ferromagnetic material such assteel that is attracted to a magnetic field. Rover inner hub 1610 can beformed from either plastic or metal. Outer hub 1640 is attracted tomobile chassis vacuum coupling 400 when electromagnet 420 (FIG. 9) isenergized.

FIG. 19 illustrates details of face seal 1660. Face seal 1660 isgenerally cylindrical in shape with a central body 1662, a distaldirected flexible annular rim 1663 and a proximal directed face 1664.Face seal 1660 has an outer annular surface 1666 and a central thru bore1668. Bore 1668 is partially defined by an annular inner surface 1670. Acounter bore 1672 extends from proximal face 1664 partially into faceseal 1660. Counter bore 1668 is defined by an inner annular surface 1673that terminates at a step 1674.

An annular grove 1676 is defined in annular inner surface 1670. Annulargroove 1676 is further defined by an annular angled surface 1678, anannular step 1680 and an annular lip 1682 that extends into bore 1668.Annular groove 1676 is located toward the center of face seal 1660.Flexible annular rim 1663 has an angled inner surface 1684 that slopestowards the base of annular lip 1682. Face seal 1660 can be formed froma resilient material such as rubber or plastic such that face seal 1660can be slightly compressed and rim 1663 can flex circumferentiallyoutward and inward.

Referring to FIG. 20, details of check valve 1700 are illustrated. InFIG. 20, check valve 1700 is shown in a closed position blocking suctionair flow. Check valve 1700 is generally cylindrical in shape. Checkvalve 1700 has a cylindrical shaped hollow valve body 1702 that containsa valve head 1730. Valve body 1702 includes a distal directed end 1704and an opposed proximal directed end 1706. Valve body 1702 has acircumferential outer surface 1708. An annular groove 1710 is defined inouter surface 1708 towards end 1706. A rubber seal 1712 is mounted inannular groove 1710.

Valve body 1702 has a central passage 1714 with an inner surface 1715.An opening 1716 is defined into passage 1714 at end 1706 by a roundedlip 1718 and another opening 1720 is defined into passage 1714 at end1704. An annular slot 1722 is defined in inner surface 1715 toward thecenter of valve body 1702. An annular step 1724 is defined between slot1722 and inner surface 1715 and another annular step 1726 is defined atthe other end of slot 1722. A partial conical shaped surface 1728 isdefined in valve body 1702 facing passage 1714 and located between step1726 and distal end 1704.

Valve head 1730 is generally mushroom shaped and has a rounded cap 1732that is attached to a stem 1734. Cap 1732 has a proximal directed topsurface 1736 and a distal directed bottom surface 1738. An annularrecess 1740 is defined in bottom surface 1738 surrounding stem 1734. Anannular flexible lip seal 1739 is mounted on step 1724. A conical shapedvalve member 1742 is mounted in passage 1714 adjacent to opening 1720.Valve member 1742 has a conical shaped wall 1744 and a hollowcylindrical post 1745. Conical shaped wall 1744 rests in contact withconical shaped surface 1728 such that valve member 1742 is preventedfrom movement in a distal direction. A bore 1746 is defined through thecenter of post 1745. Bore 1746 receives stem 1734. Post 1745 supportsstem 1734 for linear sliding motion of the stem 1734 within the bore1746.

A coil spring 1747 surrounds the stem 1734 and the post 1745. Coilspring 1747 has a distal end 1748 and a proximal end 1749. Distal end1748 rests in the junction of the conical wall 1744 and the post 1745.Proximal end 1749 is retained in recess 1740. Coil spring 1747 biasesthe valve head 1730 into a closed position where a portion of the captop surface 1736 is seated against and in contact with lip seal 1739.Contact of the cap top surface 1736 with lip seal 1739 causes lip seal1739 to deflect towards end 1706. When valve head 1730 is in a maximumopen position, the movement of valve head 1730 in a distal direction islimited by the engagement of the cap distal bottom surface 1736 with theannular step 1726 and the conical wall 1744.

With reference to FIGS. 16, 17A, 17C and 20, check valve 1700 is mountedin inner hub bore 1620A with check valve outer surface 1708 surroundedby inner hub inner surface 1609 and check valve end 1706 abutting innerhub wall 1625. The seal 1712 is compressed between the bottom of groove1710 and the inner hub inner surface 1609 in order to form a sealbetween valve 1700 and inner hub 1610. This seal substantiallyeliminates loss of vacuum between check valve 1700 and inner hub 1610.Check valve 1700 is further retained in bore 1620A by the outer hubannular lip 1658 extending over a portion of the check valve distal end1704.

Turning to FIGS. 16, 18 and 19, face seal 1660 is mounted over andsurrounds outer hub 1640. Specifically, the outer hub flange 1644 issurrounded by face seal groove 1676 and the outer hub step 1647 abutsface seal step 1680. The flexibility of rubber face seal 1660 allowsface seal 1660 to be stretched over outer hub 1640. The face seal lip1682 is mounted over and abuts the outer hub step 1645. The face sealproximal directed face 1664 abuts and is slightly compressed againstmounting plate surface 1302. Central body 1662 is sandwiched andcompressed between the mounting plate surface 1302 and the outer hubstep proximal face 1647. Because central body 1662 is formed from aresilient material such as rubber, the central body 1662 acts as aspring by flexing and assisting with alignment of the outer hub distalface 1641 when mated to the vacuum coupler 400.

Referring to FIGS. 16, 17A-C and 18, rover inner hub 1610 is mounted tomounting plate 1300. Specifically, inner hub boss 1618 and step 1622extend through mounting plate bore 1306 with inner hub flange surface1615 abutting mounting plate proximal surface 1304 and inner hub posts1624 extending through apertures 1308. Rover inner hub 1610 is matedwith and coupled to rover outer hub 1640. Face seal 1660 is mounted toouter hub 1640 and the combination is positioned on the distal side ofmounting plate 1300 and rotated or screwed onto inner hub 1610.

In particular, the outer hub threads 1652 are mated with the inner hubthreads 1634 to retain inner and outer hubs 1610 and 1640, respectivelytogether. When outer hub 1640 is rotated onto inner hub 1610, face sealproximal directed face 1664 (FIG. 19) abuts and is slightly compressedagainst mounting plate surface 1302. A seal 1770 is compressed betweenouter hub angled surface 1655 and inner hub step 1622 to form a vacuumseal between the inner hub 1610 and the outer hub 1640. This sealsubstantially eliminates loss of vacuum between the inner hub 1610 andthe outer hub 1640.

Turning back to FIGS. 16 and 17B, ninety degree elbow fitting 1750 has abarbed end 1752 and another end 1754. An annular groove 1756 is definedin the exterior surface of end 1754 and receives a seal 1755. End 1754is received by inner hub cutout 1626 and bore 1620B (FIG. 17B). Seal1755 is compressed between the base of groove 1756 and the inner surface1608 of inner hub 1610 to form a seal between elbow fitting 1750 andinner hub 1610. This seal substantially eliminates loss of vacuumbetween the inner hub 1610 and the elbow fitting 1750.

Annular barbs 1758 are defined in the exterior surface of end 1752. Anelbow fitting 1750 is coupled to each of vacuum lines 1496 and 1510.Specifically, fitting ends 1750 are connected to each of the vacuumlines 1496 and 1510. Annular barbs 1758 grasp the interior surface ofvacuum lines 1496 and 1510. A lumen 1760 is defined through elbowfitting 1750. FIG. 15 illustrates a diametrically opposed pair ofmounting features 1762 that are located on each side of fitting 1750. Athreaded fastener 1764 such as a screw extends through each of themounting features 1762, is retained in the threaded bore 1629 (FIG. 17B)and attaches a wire clip 1766 that extends over elbow fitting 1750. Inthis manner, elbow fitting 1750 is mounted to inner hub 1610.

A mobile rover power coupler 1800 is shown in FIG. 21. Rover powercoupler 1800 receives electrical power from chassis power coupler 500(FIG. 8). Rover power coupler 1800 receives electrical power via aninductive coupling from mobile chassis power coupler windings 510 (FIG.8). Rover power coupler 1800 includes a rectangular shaped housing 1802that is mounted to frame bottom surface 1208 by fasteners 1804 (FIG.11). A cover 1806 is mounted to the front face of housing 1802 usingthreaded fasteners 1808 that extend through cover apertures 1810. Cover1806 is formed from a non-conductive material such as molded plastic.Cover 1806 has a cavity 1816 and a distal facing opening 1818. A frontplate 1820 is mounted over opening 1818 and encloses cavity 1816. Frontplate 1820 has four outwardly extending shoulders that abut portions ofcover 1806 in order to retain plate 1820 within cavity 1816. Four coilsprings 1812 are mounted between the distal facing surface of housing1802 and bores (not shown) in the proximal side of plate 1820. Coilsprings 1812 bias front plate 1820 away from housing 1802 such that theplate shoulders are engaged with portions of cover 1806 about opening1818. A ferrite core 1822 and wire windings 1824 are mounted withincover 1806. Wire windings 1824 are connected to an electrical circuit inmobile rover 1000 by an electrical cable 1826.

Coil springs 1812 allow plate 1820 to float or move within cavity 1816in order to better align power coupler 1800 with power coupler 500during mating. When mobile rover 1000 is mated with mobile chassis 100,wire windings 1824 receive inductively coupled electrical power frommobile chassis wire windings 510. This electric power is used by varioussystems of the mobile rover 1000.

With reference to FIGS. 10 and 11, mobile rover 1000 further includes arover data communication module 1850. Rover data communication module1850 facilitates the exchange of data and information between mobilerover 1000 and mobile chassis 100. Rover data communication module 1850comprises a housing 1852 that contains a printed circuit board 1854 thatcontains an electronic communication circuit 1856. Communication circuit1856 is sometimes called a signal coupling circuit. Housing 1852 isattached to support member 1208.

Communication circuit 1856 includes infrared light emitting diode(IRLED) transmitter 1858 and receiver 1860. IRLED transmitter 1858 andreceiver 1860 are mounted to printed circuit board 1854 and extendthrough housing apertures 1862 such that IRLED transmitter 1858 andreceiver 1860 face in a distal direction toward mobile chassis datacommunication module 600 (FIG. 7) when mobile rover 1000 is mated tomobile chassis 100.

As shown in FIGS. 6 and 11, after mobile rover 1000 is mated to mobilechassis 100, rover IRLED transmitter 1858 is juxtaposed to chassis IRLEDreceiver 640 and rover IRLED receiver 1860 is juxtaposed to chassistransmitter 630. IRLED transmitters 630 and 1858 transmit light signals631 and IRLED receivers 640 and 1860 receive light signals 631. TheIRLED transmitters and receivers allow communication between mobilechassis 100 and mobile rover 1000 using infrared light signals 631.

FIG. 11 illustrates a guide apparatus 1870 that is adapted to guidefloating coupler mechanism 300 (FIG. 6) into guide apparatus 1870 whenmobile rover 1000 is mated with mobile chassis 100. Guide apparatus 1870is mounted to the bottom surface 1208 of frame 1204. Guide apparatus1870 comprises a spaced apart pair of elongated guide rails 1872 and apair of guide plates 1874. The guide rails 1872 are formed integral withwater and drain manifold 1900. Guide plates 1874 are coupled to theintegral guide rails 1872 by fasteners 1876 mounted through frame 1204.Fasteners 1876 also attach water and drain manifold 1900 to frame 1204.Guide rails 1872 and guide plates 1874 are located on opposite sides ofan opening 1878 in frame 1204. Opening 1878 is located toward a frontedge of frame 1204. Guide rails 1872 have rounded ends that extend awayfrom the center axis of frame 1204 and guide plates 1874 have roundededges. The guide rails 1872 are oriented generally perpendicular tobottom surface 1208 and the guide plates 1872 are mounted perpendicularto guide rails 1872.

Guide apparatus 1870 further includes a rounded distal facing guideshoulder 1880 that extends upwardly from front edge of frame 1204adjacent opening 1878 and between guide rails 1872.

Guide rails 1872 are formed with an outward facing angle to each othersuch that the distance between the distal ends of guide rails 1872adjacent to shoulder 1880 is greater than the distance between theproximal ends of guide rails 1872. Guide plates 1874 are mounted at anangle to the frame bottom surface 1208. The ends of guide plates 1874toward shoulder 1880 are positioned lower than the other end of guideplates 1874.

A water and drain manifold 1900 is mounted to frame 1204 over opening1878. Water and drain manifold 1900 includes a waste coupling port oroutlet fitting 1902 and a water coupling or port or inlet fitting 1904that face in a downward direction from manifold 1900 into opening 1878.Waste port 1902 and water port 1904 are connected to static docker 900(FIG. 4) in order to facilitate the emptying of waste from and cleaningof waste canisters 1218 and 1224 (FIG. 10).

C. Static Docker

With reference to FIG. 22, a water and drainage diagram of mobile rover1000 docked with static docker 900 is illustrated. Mobile rover 1000 isemptied of accumulated medical/surgical waste and cleaned while dockedwith static docker 900. Static docker 900 includes waste port 902 andwater port 904. Waste port 902 and water port 904 are coupled withrespective waste port 1902 and water port 1904 of mobile rover 1000.Static docker waste port 902 and mobile rover waste port 1902collectively form a complete waste port 906, after docking. Water port1904 is connected to a diverter valve 1906 through water line 1908.Diverter valve 1906 regulates the flow of water and cleaning fluids torespective waste containers 1200 and 1202. Water line 1910 connectsdiverter valve 1906 to sprinkler head 1180 in waste container 1200.Water line 1912 connects diverter valve 1906 to sprinkler head 1180 inwaste container 1202. Waste port 1902 is connected to the bottom ofwaste container 1202 by a spout 1914 located in the bottom of container1202.

After mobile rover 1000 has been docked with the static docker 900, thelower waste container 1202 is emptied of accumulated waste by staticdocker 900. Transfer valve 1276 is in an open position during theemptying operation such that any waste in upper waste container 1200flows into lower waste container 1202. After the lower waste container1202 is empty, the upper waste container 1200 and the lower wastecontainer 1202 are cleaned by cleaning fluids pumped by static docker900 through water port 1904, water line 1908, diverter valve 1906,respective water lines 1910, 1912, respective sprinkler heads 1180 andinto respective waste containers 1200 and 1202. The accumulated cleaningfluids are emptied through spout 1914 and waste port 1902.

D. Power and Control System

FIG. 23 illustrates a schematic diagram of a power and control system1980 for providing electrical power and controlling the operation ofmobile chassis 100 and mobile rover 1000. Power cords 147 and 154 arebundled together for a portion of their length, extending from mobilechassis 100 and terminating in power plugs 148 and 156, respectively.Power plugs 148 and 156 are connected to electrical receptacles in themedical facility to facilitate connection to a utility power system.Power strip 146 is connected to an external source of power throughpower cord 147 and power plug 148. Power strip 146 supplies power tosurgical modules 140 through wires 152.

The power cord 154 and power plug 156 are used to supply electricalpower to a power supply 804. Power supply 804 can supply one or morevoltage and current levels to mobile chassis 100. Power supply 804 isconnected to mobile chassis controller 802. Mobile chassis controller802 comprises a controller or microprocessor and solid state switchesfor controlling the operation of components of the mobile chassis 100.

Controller 802 is connected to a power coupler controller 806 via apower and data cable 808. Power coupler controller 806 is connected topower coupler 500 through a power cable 520. Power coupler 500 transferselectrical power via an inductive coupling to mobile rover 1000. Mobilerover 1000 includes a power coupler 1800 connected to a power regulationcircuit 1950 through a power cable 1826. Power regulation circuit 1950is connected to a mobile rover controller 1952 through a power and datacable 1954. Rover controller 1952 draws power from power coupler 1800via power regulation circuit 1950.

The power coupler 500 has a winding 510 and power coupler 1800 has awinding 1824. When the mobile rover 1000 is mated with the mobilechassis 100, the respective power couplers 500, 1800 and the respectivewindings 510, 1824 are brought in close physical proximity to oneanother such that the windings 510 and 1824 are inductively coupledtogether when AC power is transmitted to winding 510 by power couplercontroller 806.

Electric power is transferred across a dielectric gap from winding 510to winding 1824 supplying power regulation circuit 1950 with a supply ofpower. This electric power is used by various systems of the mobilerover 1000. Power regulation circuit 1950 controls the voltage, currentand frequency of the power and typically supplies DC power to thecontroller 1952.

Supplying power to mobile rover 1000 through the use of inductivecouplings in the power couplers 500 and 1800 prevents power connectionreliability problems between rover 1000 and mobile chassis 100associated with dirty or corroded electrical contacts during thesuctioning of waste fluids.

Mobile chassis 100 has a communication circuit 620 that is connected tocontroller 802 through a power and data cable 810. Communication circuit620 is connected to an in communication with infrared light emittingdiode (IRLED) transmitter 630 and receiver 640. In a similar manner,mobile rover 1000 has a communication circuit 1856 connected tocontroller 1952 through a power and data cable 1956 that carries datasignals 1957. Communication circuit 1856 is connected to IRLEDtransmitter 1858 and receiver 1860.

When the mobile rover 1000 is mated with the mobile chassis 100, theIRLED transmitters and receivers are brought in close physical proximityto one another such that infrared communication light signals aretransmitted between the infrared transmitters and receivers. Therespective IRLED transmitter 630, receiver 640, transmitter 1858 andreceiver 1860 facilitate data communication between mobile chassis 100and mobile rover 1000.

When the mobile rover 1000 is docked with the static docker 900 (FIG.4), rover power coupler 1800 and rover communication circuit 1856 allowthe static docker 900 to supply power to and communicate with mobilerover 1000 during waste emptying and cleaning procedures.

With additional reference to FIGS. 9 and 16, controller 802 is furtherconnected to electromagnet 420 via a power cable 812. Electromagnet 420is packaged with mobile chassis vacuum coupler 400 and metal hub 430.The metal outer hub 1640 is part of the rover vacuum coupler 1600. Whenthe mobile rover 1000 is mated with the mobile chassis 100, metal hub1640 is brought in close physical proximity to electromagnet 420. Whenmobile rover 1000 is mated with the mobile chassis 100, mobile rover1000 receives power from power coupler 500 causing rover controller 1952to automatically send an electrical signal through data communicationcircuits 1856 and 620 to chassis controller 802 instructing chassiscontroller 802 to energize electromagnet 420. When electromagnet 420 isenergized, a magnetic field is created that draws the rover outer hub1640 into contact with the chassis outer hub 430 such that the opposedfaces 432 and 1641 are adjacent. Whenever rover 1000 is mated withchassis 100, electromagnet 420 is automatically energized. The continuedenergizing of electromagnet 420 retains the mobile rover vacuum coupler1600 to the mobile chassis vacuum coupler 400.

The release button 1015 is mounted to mobile rover 1015 and is incommunication with controller 1952. When a user depresses release button1015, the controller 1952 sends an electrical signal through datacommunication circuits 1856 and 620 to controller 802 directingcontroller 802 to de-energize electromagnet 420. When electromagnet 420is de-energized, the magnetic field is removed from the chassis outerhub 430 thereby releasing the mobile rover vacuum coupler 1600 from themobile chassis vacuum coupler 400.

Referring only to FIG. 23, chassis controller 802 is in communicationwith the vacuum pump 210 via a power and data cable 820. Controller 802controls the operation of vacuum pump 210. Controller 802 is incommunication with a HEPA filter memory device 822 via a power and datacable 824. Controller 802 receives a signal from the HEPA filter memorydevice 822 that indicates that the filter requires changing. Controller802 is also in communication with vacuum regulator 222 via a power anddata cable 826. Controller 802 is also in communication with vacuumregulator 224 via a power and data cable 828. Controller 802 controlsthe operation of the vacuum regulators 222 and 224 in order toindependently regulate the vacuum level supplied to each of wastecontainers 1200 and 1202.

Controller 802 is further in communication with smart accessory port 830via a power and data cable 832. Controller 802 interfaces andcommunicates with various surgical tools and instruments that areequipped to communicate using smart accessory port 830. Controller 802is also in communication with the mobile chassis control panel 162 via apower and data cable 834. A user can view parameters, adjust settingsand control the operation of the mobile chassis 100 and the mobile rover1000 using control panel 162.

Controller 802 is additionally in communication with surgical modules140 through data cables or bus 168. Controller 802 is in communicationwith the power strip 146 via a power and data cable 836.

The mobile rover controller 1952 is further in communication with therelease button 1015 through a data cable 1960. Controller 1952 is alsoin communication with a waste container level sensor 1962 through a datacable 1964. Level sensor 1962 generates electrical signals that arerepresentative of the level of waste in each of waste containers 1200and 1202. The level of waste can be displayed on control panel 162.Controller 1952 is in communication with LED lights 1966 through a powercable 1968 and with LED lights 1970 through a power cable 1972. A userusing control panel 162 can direct controller 1952 to turn LED lights1966 and 1970 on and off in order to illuminate respective wastecontainers 1200 and 1202.

Controller 1952 is in communication with pressure sensor 1698 through adata cable 1967. Data cable 1967 carries a pressure signal from pressuresensor 1698 to controller 1952. Controller 1952 is in communication withpressure sensor 1699 through a data cable 1971. Data cable 1967 carriesa pressure signal from pressure sensor 1699 to controller 1952. Thepressure signals are relayed from rover controller 1952 viacommunication circuits 1856 and 620 to chassis controller 802. Chassiscontroller 802 regulates the vacuum drawn on containers 1200, 1202 basedat least partially on the pressure sensor signals. In one embodiment,controller 802 controls the operation of the vacuum regulators 222 and224 based on the pressure sensor signals to independently regulate thevacuum level supplied to each of waste containers 1200 and 1202.

The controller 1952 is also in communication with a transfer valveactuator 1278 through a power and data cable 1974. Controller 1952 canopen and close control valve 1276 using actuator 1278. Controller 1952is additionally in communication with diverter valve actuator 1907through a power and data cable 1976. Controller 1952 can open and closediverter valve 1906 using actuator 1907.

E. Operation of the First Embodiment

Referring to FIGS. 1 and 2, the medical/surgical waste collection system50 is prepared for use in the collection of medical/surgical waste.Mobile chassis 100 is typically located in an operating room/surgicalarea during use. Lockable wheels 130 allow mobile chassis 100 to bepositioned in a desired location and oriented by medical personnel. Thepower plugs 148 and 156 are connected to a power source to supply powerto mobile chassis 100 and mobile chassis 100 is turned on by a userthrough control panel 162.

With additional reference to FIGS. 6 and 11, an empty mobile rover 1000is moved by a user into mobile chassis void space 124. As the mobilerover 1000 is moved into void space 124, the guide apparatus 1870engages floating coupler mechanism 300. Specifically, as mobile rover1000 is moved towards mobile chassis 100, the angled guide rails 1872engage the angled sections 372 and the angled guide plates 1874 engagelip 377 causing rover guide mechanism 1870 and chassis coupler mechanism300 to move into an aligned position with respect to each other. At thesame time, the coupler mechanism 300, through coil springs 316, slightlymoves or floats allowing chassis vacuum coupler 400 and chassis powercoupler 500 to move slightly up, down, sideways, and tilt or rotate inorder to be aligned with the respective rover vacuum coupler 1600 androver power coupler 1800.

Eventually, the rover vacuum coupler 1600 will contact the chassisvacuum coupler 400 limiting the forward movement of mobile rover 1000.In this position, the rover power coupler 1800 is adjacent the chassispower coupler 500 such that windings 510 and 1824 are brought in closephysical proximity to each other. The windings 510 and 1824 areinductively coupled together and electrical power is provided mobilerover 1000. Also in this position, communication LED's 1858, 1860 (FIG.23) in the mobile rover and communication LED's in the chassis 630, 640(FIG. 23) are brought into alignment.

Rover power coupler 1800 and the chassis power coupler 500 automaticallyconnect so as to establish a power connection from the mobile suctioncart to the mobile container cart. The communication LED's 1858, 1860 ofcommunication circuit 1856 in the mobile container cart andcommunication LED's 630, 640 of communication circuit 620 automaticallyconnect so as to establish a data transfer connection from the mobilesuction cart to the mobile container cart.

With additional reference to FIG. 23, after power is supplied to mobilerover 1000, the chassis controller 802 automatically begins datacommunication with the rover controller 1952 through data communicationcircuits 620 and 1856. In one embodiment, controller 1952 generates datasignals 1957 that are transmitted to controller 802 via communicationcircuits 1856 and 620. Controllers 802 and 1952 can initiate a start upsequence to prepare waste collection system 50 for operation.

With the mobile rover 1000 fully inserted into void space 124, rovercontroller 1952 communicates instructions to chassis controller 802 toautomatically energize electromagnet 420. The electromagnet holds therover 1000 with high force to the chassis 100 to allow repositioning ofthe rover and chassis combination if desired without decoupling.

Turning to FIG. 24, when electromagnet 420 is energized, the chassisouter hub 430 is also magnetized and attracts the rover outer hub 1640into contact such that opposed faces 432 and 1641 are in contact.Continued energizing of electromagnet 420 retains the mobile rovervacuum coupler 1600 to the mobile chassis vacuum coupler 400. At thesame time that the rover outer hub 1640 moves towards the chassis outerhub 430, the face seal circumferential rim 1663 engages the outer hubstep 435 and is compressed against outer hub step 435 causing slightoutward radial flexing of rim 1663 and creating a seal 1990 betweenrover vacuum coupler 1600 and chassis vacuum coupler 400.

Referring back to FIGS. 1, 2 and 3, new disposable manifolds 1260 areinserted into one or both of the manifold receivers 1258 and one or moresuction lines 62, 64 are connected to one or more inlets (or ports) onthe disposable manifold 1260. The control panel 162 allows a user toselectively turn on and off vacuum pump 210 and to selectively changethe amount of vacuum drawn within one or more of the waste containers1200, 1202 by using the appropriate vacuum regulators 222, 224.

The vacuum pump 210 creates two continuous suction fluid communicationpaths 70 and 72 that are formed from the suction applicator 62 or 66 tothe suction or vacuum pump 210. When vacuum pump 210 is activated, theresultant suction draws waste matter into the respective suctionapplicator 62 or 66 as selected by a user. The waste stream associatedwith suction fluid communication path 70 travels from the suctionapplicator 62 into suction line 60 through manifold 1260 through wasteconduit 1270 (FIG. 14) and into upper waste container 1200 where thewaste stream is deposited. From waste container 1200, the suction fluidcommunication path 70, now consisting primarily of air, travels intovacuum conduit 1564 (FIG. 14) and vacuum line 1496 (FIG. 10) throughelbow fitting 1750 (FIG. 24) through check valve 1700 (FIG. 24) intoinner hub 410 and elbow fitting 450 (FIG. 24). From elbow fitting 450,the suction fluid communication path 70 continues into vacuum hoses 246(FIG. 6) through vacuum regulator 222 (FIG. 3) through check valve 226(FIG. 6) through vacuum hose 242 (FIG. 6) through HEPA filter 232 (FIG.6) into hose 244 (FIG. 6) ending at vacuum pump 210.

The waste stream associated with suction fluid communication path 72travels from the suction application 66 into suction line 64 throughmanifold 1260 through waste conduit 1270 (FIG. 14) and into lower wastecontainer 1202 where the waste stream is deposited. From waste container1202, the suction fluid communication path 72, now consisting primarilyof air, travels into vacuum conduit 1564 (FIG. 14) and vacuum line 1510(FIG. 10) through elbow fitting 1750 (FIG. 24) through check valve 1700(FIG. 24) into inner hub 410 and elbow fitting 450 (FIG. 24). From elbowfitting 450, the suction fluid communication path 72 continues intovacuum hoses 246 (FIG. 6) through vacuum regulator 224 (FIG. 3) throughcheck valve 228 (FIG. 3), through vacuum hose 242 (FIG. 6) through HEPAfilter 232 (FIG. 6) into hose 244 (FIG. 6) ending at vacuum pump 210.

Liquid waste and small pieces of solid waste are deposited intorespective waste canisters 1200 or 1202. The waste is thereby stored inthe respective waste canister 1200 or 1202 until being emptied.

In an alternative embodiment, the suction fluid communication path 72into the lower waste container 1202 is omitted such that suctioning ofwaste fluids only occurs into the upper waste container 1200 and lowerwaste container 1202 is only used for the storage of waste transferredfrom the upper waste container 1200.

During the operation of waste collection system 50, various operatingparameters can be controlled by a user and waste collection system 50can alert a user to various operating states or conditions. In oneembodiment, a user can elect to illuminate the contents of either wastecontainer 1200 or 1202 using control panel 162 to turn on one or both oflight emitting diodes 1968 and 1970. In another embodiment, level sensor1962 detects when either waste container 1200 or 1202 is approachingbeing filled and send a level sensor signal representative of anoperating state of waste collection system 50 to control panel 162 toalert a user of this condition.

Medical personnel may also operate the surgical modules 140 during orseparate from the operation of waste collection system 50 in order toperform various surgical functions.

After a period of time, when the upper waste container 1200 is beingused, the upper canister 1218 will become full and need to be emptied,or the operator may elect to empty the upper canister 1218, before beingfilled. At this point, the user uses control panel 162 to direct thevalve actuator 1278 (FIG. 24) to open the transfer valve 1276 (FIG. 3)and transfer waste material from the upper container 1200 to the lowercontainer 1202.

During the transfer of waste material from the upper container 1200 tothe lower container 1202, the vacuum present in the upper wastecontainer 1200 is vented to atmospheric pressure through vacuumregulator 222. The vacuum in the lower waste container 1202 is set to apressure such as the lower desired vacuum level of the two wastecontainers 1200, 1202. As a result, the vacuum in the lower wastecontainer 1202 assists in pulling waste material into the lower wastecontainer 1202.

Once both the upper 1200 and lower 1202 waste containers are filled, orif the user desires to empty and clean the waste containers 1200 and1202 prior to being filled, the user can turn off vacuum pump 210 usingcontrol panel 162. Button 1015 is then depressed in order to de-activateelectromagnet 420. With electromagnet 420 de-activated, medicalpersonnel can remove or uncouple mobile rover 1000 from mobile chassis100 by pulling on handle 1012 in a direction away from mobile chassis100. The separable rover allows for the convenient collection ofunlimited amounts of fluid waste. A rover with full waste containers canbe removed and replaced with another empty rover quickly, minimizing thedisruption to an ongoing surgical procedure.

Mobile rover 1000 is then rolled from the surgical area 52 (FIG. 4) tothe static docker 900 (FIG. 4) to off-load the waste material to thetreatment facility 910 (FIG. 4) and to clean the waste containers 1200and 1202.

III. Second Embodiment

FIG. 25 illustrates an alternative embodiment of a medical/surgicalwaste collection system 2000 constructed in accordance with the presentinvention. Waste collection system 2000 comprises a mobile chassis 2100and a mobile rover 2500. Mobile rover 2500 is the same as described inthe first embodiment except that the shapes and sizes of some of theexterior components have been changed. The internal components andoperation of mobile rover 2500 are the same as for mobile rover 1000.Mobile chassis 2100 is sometimes called a suction cart 2100. Mobilerover 2500 is sometimes called a container cart 2500.

Mobile chassis 2100 is similar to mobile chassis 100 of the firstembodiment except that the upper chassis 104 (FIG. 1) has been omitted.Mobile chassis 2100 is generally rectangular in shape and includes agenerally planar top cover 2104 that extends over four outer side walls2106 of mobile chassis 2100. Handles 2108 are attached to one or morewalls 2106 to allow a user to position mobile chassis 2100. Controlpanel 162 is mounted to one of walls 2106. A void space 124 is definedin one of walls 2106 within mobile chassis 2100 and receives mobilerover 2500 when mobile rover 2500 is mated with mobile chassis 2100. Arectangular shaped cavity 2110 is defined in one of walls 2106 withinmobile chassis 2100. Surgical modules 140 are mounted within cavity 2110and are supported by shelves 2112 within cavity 2110. The internalcomponents and operation of mobile chassis 2100 are the same aspreviously described for mobile chassis 100.

IV. Third Embodiment A. Mobile Chassis

Turning to FIGS. 26 and 28, waste collection system 3000 includes achassis 3100 and a mobile rover 4000. Rover 4000 can be mated with thechassis 3100. Chassis 3100 is sometimes called a suction cart 3100.Mobile rover 4000 is sometimes called a container cart 4000. Withspecific reference to FIG. 26, chassis 3100 is generally rectangular inshape and has a lower chassis 3102 and an upper chassis 3104. Chassis3100 has an inner frame that supports several outer molded covers 3108.Covers 3108 include front panel 3109, rear panel 3110, side panels 3111and top panel 3112.

Covers 3108 can be formed from molded plastic and attached to lowerchassis 3102 and upper chassis 3104 by suitable methods such as throughthe use of fasteners. Covers 3108 are used to protect the internalcomponents of chassis 3100 and to provide improved visual aesthetics. Areceptacle or void space 3124 is defined in front panel 3109. Void space3124 receives mobile rover 4000 when mobile rover 4000 is mated tomobile chassis 3100. Void space 3124 has an upper portion 3125 and alower portion 3126. Front panel 3109 is angled on either side of lowerportion 3126 in order to guide mobile rover 4000 into void space 3124when mobile rover 4000 is mated with mobile chassis 3100. An opening3127 is defined in front panel 3109 above upper portion 3125.

A floating coupler mechanism 3300, vacuum coupler 3400 and power anddata coupler 3500 extend away from front panel 3109 into receptacle3124. In the embodiment of FIG. 26, chassis 3100 is shown withoutwheels. Chassis 3100 can be used in a relatively static position withina surgical area 52 (FIG. 4). In another embodiment, wheels 3130 (FIG.28) can be attached to chassis 3100 to allow chassis 3100 to betransported and easily moved within operating room/surgical area 52.

An interior cavity 3122 is defined within upper chassis 3104. Acomponent rack 3138 is mounted to upper chassis 3104 within cavity 3122.Component rack 3138 holds a variety of medical/surgical instruments ormodules 3140. For example, component rack 3138 can contain equipment,instruments or modules such as an irrigation pump console,electrocautery instrument, an insufflator module, a fiber optic lightmodule or any other suitable surgical instrument or module. Instruments3140 contain one more memory devices or memory capable of storing data,information and instructions related to the function of instruments3140. Rack 3138 has an electronic backplane 3142 that includes dataconnectors 3144 and power connectors 3146. Power connectors 3146 supplypower to modules 3140.

Modules 3140 include power connectors 3148 and data connectors 3150.Modules 3140 can be slid into rack 3138. When modules 3140 are mountedin rack 3138, module power connectors 3148 are mated with chassis powerconnectors 3146 and module data connectors 3150 are mated with chassisdata connectors 3144. Power cord 3154 and power plug 3156 are used tosupply power to mobile chassis 3100 and modules 3140.

A pivotable support rod 3158 extends over top panel 3112 and bendsdownwardly along one of side panels 3111. A display assembly or controlpanel 3162 is mounted to support rod 3158. Support rod 3158 allowsmedical personnel to position control panel 3162 in an optimal positionfor viewing and input of commands.

Control panel 3162 controls the operation of the components of chassis3100 and some of the components of mobile rover 4000. Control panel 3162can be a touch screen display assembly or can include user input devicessuch as buttons. In one embodiment, control panel 3162 can control theoperation of surgical modules 3140. Display assembly 3162 presentsinformation regarding the operating state of the container cart or thesuction cart based at least partially on received sensor signals frompressure sensors 1698, 1699 or level sensors 1962, 4962. Displayassembly 3162 can also present information directly display the pressuresensor signals from pressure sensors 1698, 1699 and the level sensorsignals from level sensors 1962, 4962. Control panel 3162 cancommunicate with surgical modules 3140 through backplane 3142 and dataconnectors 3144 and 3150.

Two electromagnets 3160 face in a distal direction into receptacle 3124.When energized, electromagnets 3160 are used to hold mobile rover 4000to chassis 3100.

Chassis 3100 includes a manifold assembly 5000 that includes threedisposable suction inlet fittings 5100 that are mounted to lower chassisfront panel 3109 and extend perpendicularly away from front panel 3109.Suction inlet fittings 5100 are sometimes called suction inletreceivers. Each disposable inlet fitting 5100 receives one of suctionlines 60, 64 or another suction line (not shown). The distal end of eachsuction line 62 and 64 can be attached to a suction applicator handpiece 62 and 66, respectively.

With reference to FIGS. 28, 29 and 30, further details of chassis 3100are illustrated. In FIGS. 29 and 30, covers 3108 that normally concealthe components of chassis 3100 and upper chassis 3104 are not shown inorder for the internal components of chassis 3100 to be more clearlyviewed.

Lower chassis 3102 comprises a rectangular shaped frame 3180 thatincludes a base 3181, a top panel 3182 and six support legs or rails3184 that extend perpendicularly between base 3181 and planar top panel3182. Frame 3180 can be formed from a suitable material such as metal.Base 3181 has a central mounting plate 3185 and a pair of arms 3186 thatextend generally perpendicularly away from central mounting plate 3185towards the distal end of chassis 3100. Arms 3186, distal positionedrails 3184 and top 3182 define void space 3124 therein.

The four proximal rails 3184, mounting plate 3185 and top 3182 define aninternal cavity 3187. A proximal wall 3188 extends partially upwardsfrom mounting plate 3185 between proximal rails 3184. A rectangularshaped mounting wall 3189 extends perpendicularly upwardly from thedistal end of top 3182. A supporting gusset 3190 is attached to each endof mounting wall 3189 and extends in a proximal direction and isattached to top 3182. Four support and leveling feet 3191 are attachedto the lower corners of base 3181.

A vacuum and filter assembly 3200 for providing a vacuum source andfiltering is mounted to mounting plate 3185. Vacuum and filter assembly3200 can be the same as vacuum and filter assembly 200. Vacuum andfilter assembly 3200 includes a vacuum source or pump 3210, vacuumregulator assembly 3220 and filter assembly 3230. Specifically, vacuummanifold 3220 is mounted to the upper surface of mounting plate 3185.Vacuum pump 3210 and filter assembly 3230 are mounted to vacuumregulator assembly 3220.

With additional reference to FIG. 28, vacuum regulator assembly 3220integrates vacuum regulators 3222, 3224 and check valves 3226, 3228 intoa single unit. Filter assembly 3230 integrates HEPA filter 3232 andvacuum relief valve 3234 into a single unit. A vacuum hose 3242 isconnected between check valves 3226, 3228 and HEPA filter 3232. Anothervacuum hose 3244 connects vacuum pump 3210 to HEPA filter assembly 3232.

An insulating shell 3250 (FIG. 29) generally encloses vacuum and filterassembly 3200. Insulating shell 3250 attenuates noise that is generatedby the vacuum components. Insulating shell 3250 is generally rectangularin shape is defined by five adjoining panels 3251 and has an internalchamber 3256 therein. The interior walls of insulating shell 3250 arecovered with sound deadening insulation 3258. Insulating shell 3250 isformed from sheet metal, cast metal, plastic, or other suitablematerial. Insulating shell 3250 is mounted over vacuum and filterassembly 3200 and is fastened to mounting plate 3185 by fasteners (notshown).

With additional reference to FIG. 31, chassis 3100 includes a cartcoupling feature 3300, also called a retention feature or floatingcoupler mechanism 3300. Floating coupler mechanism 3300 provides sixdegrees of freedom for chassis suction or vacuum coupler 3400 andchassis power and data coupler 3500 to move relative to mobile rover4000 to increase the ability of chassis vacuum coupler 3400 and chassispower and data coupler 3500 to mate with the respective couplings onmobile rover 4000.

Floating coupler mechanism 3300 includes a bent spring bracket 3302 thathas a bottom plate 3303, an opposed top plate 3304, a front plate 3305,an angled plate 3306 extending between front plate 3305 and top plate3304, a connecting plate 3307 and a step plate 3308. All of the platesare connected to each other to form bracket 3302. Bracket 3302 can beformed from a metal material. Plates 3304-3308 define a passage 3310there between. A bent flange 3309 extends upwardly from top plate 3304.Two spaced apart arms 3312 are located along a proximal end of bottomplate 3302 and extend perpendicularly away from bottom plate 3302.Fasteners 3316 secure arms 3312 to proximal wall 3188.

A bracket 3302 extends in a distal direction into void space 3124 andspecifically into the lower section 3126 of void space 3124. Bracket3302 acts as a spring and allows the top plate 3304 and the flange 3309to flex toward and away from bottom plate 3310. The top plate 3304 andflange 3309 also slightly flex from side to side and in a distal andproximal direction.

The floating coupler mechanism 3300 further includes a cover or shroud3320 (see FIG. 26) that is mounted over and to spring bracket 3302.Shroud 3320 includes angled sections 3322 and a lip 3324 that extendsoutwardly from opposed top edges of shroud 3320. Angled sections 3322and lip 3324 assist with the centering of mobile rover 4000 into chassis3100 when mobile rover 4000 is mated with chassis 3100. Floating couplermechanism 3300 allows chassis vacuum coupler 3400 and chassis power anddata coupler 3500 to move slightly up or down in order to more easily bealigned with corresponding mating features of mobile rover 4000. Inparticular, plate 3304 and flange 3309 can tilt and move slightly inposition relative to frame 3180. As a result, chassis vacuum coupler3400 and chassis power and data coupler 3500 can tilt up or down againstthe bias of spring bracket 3302 to facilitate mating with correspondingcouplers on mobile rover 4000.

FIGS. 31 and 32 illustrate details of chassis vacuum couplers 3400. Twochassis vacuum couplers 3400 are mounted to top plate 3304. Each chassisvacuum coupler 3400 comprises a ninety degree elbow fitting 3402 thatincludes a threaded cylindrical shaped inner barrel 3410 and an outerthreaded body 3430. Inner barrel 3410 is generally cylindrical in shapewith a tapered end 3411 and an annular outer surface 3412. Externalthreads 3413 are defined on outer surface 3412. Inner threaded barrel3410 further has a thru bore 3414 and an outwardly extending flange 3416located toward one end of inner barrel 3410.

Inner barrel 3410 is mounted through apertures 3340 in top plate 3304.Flange 3416 rests against top plate 3404. An annular groove 3418 isdefined in annular outer surface 3412. A seal 3420 is mounted in groove3418.

Outer threaded body 3430 includes a base 3432 and a cylindrical boss3434 that extends away from base 3432. Boss 3434 has an inner surface3436 upon which are defined internal threads 3438. A thru bore 3440extends through base 3432 and boss 3434.

Inner barrel 3410 is received in bore 3440 with the barrel externalthreads 3413 mated with the base internal threads 3438 thereby retainingelbow fitting 3402 to top plate 3304. A barbed fitting 3442 extends fromone side of base 3432. A vacuum hose 3444 is mounted over each barbedfitting 3442. Vacuum hoses 3444 connect chassis vacuum couplers 3400 tovacuum regulators 3222 and 3224 (FIG. 28), respectively. Each vacuumhose 3444 extends from fitting 3442 to vacuum regulator assembly 3220(FIG. 30) that contains vacuum regulators 3222 and 3224 (FIG. 28).

Returning to FIG. 31, further details of chassis power and data coupler3500 are illustrated. Chassis power and data coupler 3500 transferselectrical power and data via electrical contacts from chassis 3100 tomobile rover 4000. Chassis power and data coupler 3500 has four bladeshaped contacts including a power contact 3502, a ground contact 3504and data contacts 3510. Contacts 3502, 3504 and 3510 are each surroundedby an area of electrically insulating material 3512. Contacts 3502, 3504and 3510 are mounted at the inner junction of top plate 3304 and flange3309 and extend perpendicularly to both top plate 3304 and flange 3309.Contacts 3502, 3504 and 3510 are formed from a conductive metal such asa copper alloy and may be plated to withstand arcing and preventcorrosion. Contacts 3502, 3504 and 3510 mate with corresponding contactson mobile rover 4000 as will be described later with the discussion ofmobile rover 4000.

Electrical cable 3810 connects contacts 3502 and 3504 to a source ofelectrical power within chassis 3100. The chassis power and data coupler3500 provides electric power and data communication to mobile rover4000. This electric power is used by various systems of the mobile rover4000. Electrical cable 3812 connects data contacts 3510 to a chassiscontroller 3802 (FIG. 44). Data contacts 3510 facilitate the exchange ofdata and information between chassis 3100 and mobile rover 4000.

With specific reference to FIGS. 33A and 33B, details of disposableinlet fittings 5100 are illustrated. Disposable inlet fitting 5100comprises a cylindrical cap 5150 with a distal facing tapered nozzle5154 and a proximal barrel 5102. Tapered nozzle 5154 is adapted toreceive one of suction lines 60, 64 and to form a vacuum seal withsuction lines 60, 64. Cap 5150 and barrel 5102 are collectively coupledtogether to form inlet fitting 5100.

The most proximal portion of the inlet fitting is barrel 5102. Barrel5102 is generally cylindrical in shape and has a tubular shaped sidewall 5104 with a distal end 5106 and a rounded proximal end 5108. Sidewall 5104 is formed to have an outer surface 5110 and an inner surface5112. Inner surface 5112 defines a thru bore 5114. An annular taperedgroove 5116 is defined in inner surface 5112 near the center of barrel5102. Three raised ridges or ribs 5118 extend circumferentially outwardaround outer surface 5110 near the center of barrel 5102.

A drip stop and backflow preventer 5120 is integrally formed with barrel5102 and is positioned within bore 5114 toward proximal end 5108. Barrel5102 is formed from a compressible, elastomeric material such aspolyisoprene rubber. Drip stop and backflow preventer 5120 has a ringshaped base 5122 and a head 5124 with a concavo-convex profile that isintegral with and projects in a proximal direction from base 5124. Dripstop head 5124 includes two flexible diametrically opposed lips 5126.Lips 5126 abut each other so as to define a slot 5128 therebetween.

Slot 5128 has a length slightly less than the diameter of bore 5114. Thenormal abutment of the opposed lips 5126 of drip stop head 5124 blocksthe flow from proximal end 5108 of any small amounts of waste fluidretained in inlet fitting 5100 when inlet fitting 5100 is disconnected.When vacuum suction is applied thru bore 5114, opposed lips 5126 flexand move in a proximal direction towards inner surface 5112 such thatthe distance between lips 5126 is increased and the dimension of slot5128 is increased thereby allowing suction fluid flow through drip stop5120 and barrel 5102.

With continued reference to FIGS. 33A and 33B, features of cap 5150 willnow be described. Cap 5150 can be formed from a single piece of moldedplastic such as polypropylene.

Cap 5150 has a flange 5156 with a distal facing surface 5157. A proximalextending cylindrical shaped skirt 5158 extends from flange 5156 andterminates at end 5160. Skirt 5158 has an annular inner surface 5162 andan annular outer surface 5164. A slot 5166 is defined in skirt 5158beginning at end 5160 and extending in a distal direction approximatelyhalf the width of skirt 5158. Slot 5166 makes a ninety degree bend andextends into a notch 5168 that is contiguous with slot 5166.

A tubular shaped sleeve 5170 projects in a proximal direction fromflange 5156 and terminates at end 5172. Sleeve 5170 has an annular outersurface 5174, an inner surface 5175 and a circumferential lip 5176 thatprojects radially outwards from the outer surface 5164 and is locatedtowards end 5172. Inner surface 5175 defines a sleeve bore 5178.

Barrel 5102 fits over and is retained to sleeve 5170. In particular,sleeve 5170 fits into the opening at barrel distal end 5106 and isreceived in barrel bore 5114. Sleeve 5170 slides within bore 5114 untilsleeve end 5172 abuts a portion of base 5122 extending into bore 5114and sleeve outer surface 5174 is juxtaposed to barrel inner surface5112. In this position, sleeve lip 5176 is seated in barrel groove 5116preventing barrel 5102 from moving in a proximal direction relative tosleeve 5170 and thereby retaining barrel 5102 to cap 5150. Thecompression of the barrel inner surface 5112 around the sleeve outersurface 5174 substantially eliminates loss of suction between the cap5150 and the barrel 5102.

Cap 5150 further includes a distal facing tapered nozzle 5154 thatextends in a distal direction from flange distal face 5157. Taperednozzle 5154 receives one of suction lines 60, 64. Nozzle 5154 has adistal end 5180 and a tapered inner surface 5182. Inner surface 5182defines a bore 5184. Bores 5114, 5178 and 5184 are all contiguousforming a continuous fluid carrying bore 5188 through inlet fitting5100. A circumferential slot 5190 is defined between skirt inner annularsurface 5162 and barrel outer annular surface 5110. Slot 5190 begins atskirt end 5160 and terminates at the proximal face of flange 5156.

Referring to FIG. 33C, another embodiment of a disposable inlet fitting5800 is illustrated. Disposable inlet fitting 5800 is similar todisposable inlet fitting 5100 except that disposable inlet fitting 5800further includes multiple nozzles 5854, 5856 and a removable filter5900. Disposable inlet fitting 5100 comprises a cylindrical cap 5850with two distal facing tapered nozzles 5854, 5856 and a proximal barrel5802. Tapered nozzles 5854 and 5856 are adapted to receive one ofsuction lines 60, 64 and to form a vacuum seal with suction lines 60,64. Cap 5850 and barrel 5802 are collectively coupled together to forminlet fitting 5800.

The most proximal portion of the inlet fitting is barrel 5802. Barrel5802 is generally cylindrical in shape and has a tubular shaped sidewall 5804 with a distal end 5806 and a rounded proximal end 5808. Sidewall 5804 is formed to have an outer surface 5810 and an inner surface5812. Inner surface 5812 defines a thru bore 5814. Three raised ridgesor ribs 5818 extend circumferentially outward around outer surface 5810near the center of barrel 5802.

Barrel 5802 can include a drip stop and backflow preventer (not shown)the same as described for inlet fitting 5100 in order to prevent leakingof waste fluids when inlet fitting 5800 is disconnected. Barrel 5802 isformed from a compressible, elastomeric material such as polyisoprenerubber.

With continued reference to FIG. 33C, features of cap 5850 will now bedescribed. Cap 5850 can be formed from a single piece of molded plasticsuch as polypropylene. Cap 5850 has a head 5855 with a distal facingsurface 5857 and a base 5861. A proximal extending cylindrical shapedskirt 5858 extends from base 5861 and terminates at end 5860. Cap 5850has an outer surface 5864 and skirt 5858 has an annular inner surface5862. A slot 5866 is defined in skirt 5858 beginning at end 5860 andextending in a distal direction approximately the width of skirt 5858.Slot 5866 makes a ninety degree bend and extends into a notch (not shownin FIG. 33C). A circumferential slot 5889 is defined between skirt innerannular surface 5862 and barrel outer annular surface 5810. Cap 5850includes the same internal components as inlet fitting 5100 such as asleeve (not shown) that allow cap 5850 to be coupled with and retainedto barrel 5802.

Cap 5850 further includes two distal facing tapered ports or nozzles5854 and 5856 that extend in a distal direction from head distal face5857. Tapered nozzles 5854, 5856 can each receive one of suction lines60, 64. Nozzle 5854 has a distal end 5880 and a tapered inner surface5882. Inner surface 5882 defines a bore 5884. Nozzle 5856 has a distalend 5881 and a tapered inner surface 5883. Inner surface 5883 defines abore 5885. While two nozzles 5854 and 5856 are shown in FIG. 33C, moreor few nozzles can be utilized with inlet fitting 5800. A cover or lid5870 can be mounted to one or both of ends 5880, 5881 in order to closeone or both nozzles 5854, 5856 when not in use.

Cap 5850 includes a center section 5872. A rectangular shaped filtercavity 5890 is defined in center section 5872. Filter cavity 5890 isdefined by four side walls 5891 and a bottom wall 5892. An opening 5893is defined in the distal most wall 5891. A chamber 5894 is definedwithin head 5855 and is connected to bores 5854 and 5855 and isconnected to opening 5893. Bores 5854, 5856, chamber 5894, opening 5893,filter cavity 5890 and bore 5814 are all contiguous forming a continuousfluid carrying path through inlet fitting 5800.

Removable filter 5900 is generally rectangular in shape and has ahousing 5910. Housing 5910 is defined by two opposed planar side walls5912 and two opposed planar side walls 5914. Walls 5912 and 5914 definean interior cavity 5920. Upper wall 5914 is slightly larger than thesize of the cavity 5890 opening such that upper wall 5914 overlaps capouter surface 5864. A mesh screen or filter grid 5930 is mounted to oneside of housing 5910 across cavity 5920. A handle 5916 is attached toupper wall 5914. Handle 5916 allows a user to manually manipulate filter5900. Filter 5900 and screen 5930 can be formed from a single piece ofmolded plastic such as polypropylene. In one embodiment, filter 5900 isformed at least partially from a transparent material such that a usercan view the contents of filter 5900.

Filter 5900 is received in filter cavity 5890. Filter 5900 can form aseal with cap outer surface 5864 and cavity side walls 5891. Filter 5900is inserted by a user into filter cavity 5890 such that cavity 5920faces opening 5893 and upper wall 5914 abuts cap outer surface 5864. Inone embodiment, filter 5900 is used to collect solid waste particlessuch as bone fragments or tissue that may cause blockage or clogging ofinternal components of chassis 3100 or rover 4000. If filter 5900becomes obstructed with debris during use, a user can turn off thevacuum through the respective inlet fitting 5800, remove the used filter5900 and insert a new filter 5900. The used filter is then disposed ofas medical waste.

In another embodiment, filter 5900 is used as a specimen collector tocollect a tissue sample during a surgical procedure. Medical personnelcan insert a new filter 5900 into inlet fitting 5800 and turn on thevacuum through the respective inlet fitting 5800 in order to collect atissue sample. The tissue sample is trapped against screen 5930 as fluidflows through inlet fitting 5800. After the tissue sample is collected,the vacuum is turned off and filter 5900 containing the tissue sample isremoved from inlet fitting 5800 and forwarded to a laboratory forfurther analysis. A new filter 5900 is then inserted into inlet fitting5800.

Turning to FIG. 34, an inlet fitting receiver 5200 and a control valve5400 are shown. Disposable inlet fitting 5100 can be attached andremoved from inlet fitting receiver 5200 by a user. Inlet fittingreceiver 5200 is part of control valve 5400. Control valve 5400 ismounted to the rear side of chassis mounting wall 3189 by fasteners (notshown). Control valve 5400 includes a generally T-shaped valve body 5402from which inlet fitting receiver 5200 extends in a distal directionthrough mounting wall 3189. Valve body 5402 can be formed from a singlepiece of injection molded plastic such as polypropylene.

Inlet fitting receiver 5200 has a tubular shaped wall 5202 that extendsfrom valve body 5402 and terminates in a distal end 5204. Wall 5202 hasan annular outer surface 5206 and an annular inner surface 5208. A post5210 extends perpendicularly away from outer surface 5206 towards distalend 5204. A bore 5212 extends through receiver 5200 and into valve body5402. Bore 5212 is defined by annular inner surface 5208.

With additional reference to FIG. 33A, bore 5212 receives inlet fitting5100. In particular, barrel 5102 is located in bore 5112 with the barrelproximal end 5108 abutting valve body 5402 and receiver inner surface5208 adjacent barrel outer surface 5110. Receiver wall 5202 fits intoskirt annular slot 5190. The distal wall end 5204 abuts the proximalface of fitting flange 5156. The barrel ribs 5118 are compressed againstthe receiver inner surface 5208. The compression of the barrel ribs 5118against the receiver inner surface 5208 substantially eliminates loss ofsuction between the inlet fitting receiver 5200 and the barrel 5102.

The disposable inlet fitting 5100 is attached to inlet fitting receiver5200 by a user grasping cap skirt 5158 and inserting the barrel 5102into receiver bore 5212. The post 5210 is aligned with slot 5166 and theinlet fitting 5100 is moved in a proximal direction until barrel 5102 isseated in bore 5212. The barrel proximal end 5108 abuts valve body 5402and the distal end 5204 abuts the proximal face of flange 5156. Skirt5158 and inlet fitting 5100 are then rotated clockwise such that thepost 5210 slips into recess 5168 thereby locking inlet fitting 5100 toinlet fitting receiver 5200.

The disposable inlet fitting 5100 is removed from inlet fitting receiver5200 by a user grasping cap skirt 5158 and rotating skirt 5158 and inletfitting 5100 counter clockwise such that post 5210 slips out of recess5168. Inlet fitting 5100 is then manually pulled in a distal directionby the user causing barrel 5102 to slide out of bore 5112 and post 5210to slip out of slot 5166.

A tubular duct 5300 extends from valve body 5402 in a proximal directionand terminates in a proximal end 5304. Duct 5300 has an inner surface5308 that defines a bore 5310. A plug 5312 is threaded into bore 5310abutting duct inner surface 5308 and sealing bore 5310. Duct 5300 isused during manufacturing of control valve 5400.

Another tubular duct 5350 extends from valve body 5402 in a downwarddirection and terminates in an end 5354. Duct 5350 has an inner surface5358 that defines a bore 5360. A plug 5362 is threaded into bore 5360abutting duct inner surface 5358. A bore 5364 is defined through plug5362. A ninety degree elbow fitting 5380 is attached to duct 5350. Elbowfitting 5380 has an end 5382 that is fitted into bore 5360 and a barbedend 5384.

Valve body 5402 further has a ball cavity 5404 that contains a sphericalvalve ball 5410. The valve ball 5410 is supported for rotation withincavity 5404 by three annular tapered seals 5412. Seals 5412 are mountedwithin cavity 5404. Seals 5412 form a fluid seal between valve ball 5410and the interior walls of cavity 5404. A bore 5414 having a ninetydegree bend is defined through ball 5410. A square shaped slot 5416 isdefined in the top of valve ball 5410. A boss 5406 projectsperpendicularly upwards away from valve body 5402 and has a thru bore5408.

A rotary actuator 5430 is attached to the top of valve body 5402 bysuitable means such as using fasteners (not shown). Rotary actuator 5430is a type of electric motor that is connected with a source of electricpower. The rotary actuator 5430 has a downwardly extending square shaft5432 that is received by and fits into square slot 5416. The rotaryactuator 5430 is in communication with chassis controller 3802 (FIG.44). The rotary actuator 5430 can be directed by controller 3802 torotate in a clockwise and counter clockwise direction in order to rotatethe valve ball 5410 between open and closed positions or to one or moreintermediate positions in order to control the flow rate through controlvalve 5400. Therefore, chassis controller 3802 controls the operation ofcontrol valve 5400.

In FIG. 34, the valve ball 5410 is shown in an open position. In theopen position, a suction fluid can flow through inlet fitting 5100,receiver bore 5412, ball bore 5414, plug bore 5364 and elbow fitting5380. When the valve ball 5410 is rotated ninety degrees by rotaryactuator 5430, the valve ball 5410 is in a closed position blocking theflow of suction fluid through control valve 5400.

Referring now to FIGS. 35 and 36, views of the inlet manifold assembly5000 mounted to the chassis 3100 are shown. Three control valves 5400are mounted to mounting plate 3189. Each of the control valves 5400 hasan associated actuator 5430. An electrical cable 5440 is used to connecteach actuator 5430 with a chassis controller 3802 (FIG. 44). Controlvalves 5400 allow the suction or vacuum to each of the inlet fittings5100 and suction lines 60, 64 (FIG. 26) to be independently controlledor regulated by setting each control valve 5400 to the desired position.

The inlet manifold assembly 5000 includes a manifold 5500 that iscoupled to a chassis waste coupler 5600. Manifold 5500 can be called oneend of chassis waste coupler 5600. Manifold 5500 has a generally ovalshaped accumulator 5502 that is defined by U-shaped walls 5504. The openend of accumulator 5502 faces waste coupler 5600. A peripheral rim 5506extends peripherally outwardly from the bottom edge of walls 5504. Walls5504 define a cavity 5508 within accumulator 5502. Three barbed hosefittings 5510 extend perpendicularly upward from the top surface ofaccumulator 5502. Manifold 5500 is mounted to the top surface 5604 ofchassis waste coupler 5600 using suitable methods such as adhesives orfasteners (not shown). Rim 5506 rests against the top surface 5604.

A vacuum hose 5520 is connected between each control valve 5400 and arespective fitting 5510. Specifically vacuum hose 5520 has ends 5522 and5524. Hose end 5522 is attached and retained to fitting barbed end 5384and hose end 5524 is attached and retained to fitting 5510. Hoses 5520provide a suction fluid communication path between control valves 5400and manifold 5500.

A chassis waste coupler 5600 is mounted to the frame top panel 3182.Chassis waste coupler 5600 is generally D-shaped and is formed from asingle piece of plastic material such as polypropylene. The frame toppanel 3182 has a cutout portion 5602 that receives the chassis wastecoupler 5600. The chassis waste coupler 5600 has a central body 5601with a top surface 5604 and an opposed bottom surface 5606, also calledan end. A peripheral side surface 5608 surrounds chassis waste coupler5600. A peripheral lip 5610 extends outwardly from top surface 5604 overside surface 5608. Lip 5610 rests on the top panel 3182 and prevents thewaste coupler 5600 from passing downwardly through cutout 5602.

A bore 5620 extends downwardly from the top surface 5604. A beveledcounter bore 5622 extends upwardly from the top of a recess 5624 locatedin bottom surface 5606. The beveled counter bore 5622 is defined by atruncated cone shaped surface 5623 that faces towards recess 5624. Bore5620, beveled counter bore 5622 and recess 5624 are all co-axial andextend entirely between top surface 5604 and bottom surface 5606. Abottom facing angled surface or wall 5626 extends from recess 5624 toside surface 5608. The angled surface or wall 5626 defines a guidereceptacle 5630.

The chassis waste coupler 5600 is movably coupled to chassis top panel3182 by three spring clips 5640. Apertures 5642 are defined in top panel3182. Spring clips 5640 have an end 5646 and a U-shaped clamp end 5648.Apertures 5643 are defined in end 5646. The spring clips 5640 areattached to the top panel 3182 by fasteners 5644 that pass throughapertures 5642 and 5643. The clamp end 5648 engages and presses againstwaste coupler top surface 5604.

The spring clips 5640 further have a center spring section 5650 locatedbetween ends 5646 and 5648. Spring section 5650 allows spring clips 5640to bend and to bias chassis waste coupler 5600 in a downward direction.The spring clips 5640 allow waste coupler 5600 to move slightly upwardwhen mobile rover 4000 is mated to chassis 3100. The spring clips 5640also provide a downward bias of the waste coupler 5600 towards mobilerover 4000 when the mobile rover 4000 is mated to chassis 3100.

B. Mobile Rover

Turning now to FIGS. 29 and 37, details of mobile rover 4000 areillustrated. Waste collection system 3000 includes a mobile rover 4000that is mated to and disconnected from mobile chassis 3100. Mobile rover4000 utilizes an upper 4200 waste container and a lower storage tank4202 to collect and temporarily store medical/surgical waste during use.

A frame 4204 supports the lower storage tank 4202 which in turn supportsthe upper waste container 4200. Upper waste container 4200 is mountedabove storage tank 4202 such that waste material in the upper container4200 can be emptied into the lower storage tank 4202 via gravity. Whilean upper waste container 4200 and a storage tank 4202 are shown in FIG.29, in some embodiments, mobile rover 4000 can include only one ofeither waste container 4200 or storage tank 4202.

The frame 4204 includes a planar rectangular shaped base 4206 and aU-shaped support member 4208. The components of frame 4204 can be formedfrom metals such as steel. The base 4206 includes a top surface 4207 anda bottom surface 4209. The support member 4208 is mounted to the frametop surface 4207 by welding or by fasteners. U-shaped support member4208 and frame top surface 4207 define a passage 4210. The lower storagetank 4202 has a bottom surface that is affixed to support member 4208.Four wheels 4212 are mounted to the bottom 4209 of base 4206 to allowrolling movement of mobile rover 4000.

With additional reference to FIG. 27, the frame base 4206 is covered bya cover 4002. A front cover 4004 is mounted over the front of upperwaste container 4200 and lower storage tank 4202 and a rear cover 4006is mounted over the rear of upper waste container 4200 and storage tank4202. A handle 4010 has a grasp bar 4012 and arms 4014 that are attachedto storage tank 4202. A release button 4015 is mounted to grasp bar4012. Button 4015 deactivates the electromagnet 3160 (FIG. 26) thatretains mobile rover 4000 to chassis 3100. Medical personnel can usehandle 4010 to position mobile rover 4000 by pushing or pulling. Atransparent window 4020 is formed in front cover 4004 allowing a user tovisually check the contents of upper waste container 4200.

Covers 4002, 4004, 4006 and handle 4010 can be formed from moldedplastic and attached to frame 4204 and waste containers 4200 and 4202 bysuitable methods such as through the use of fasteners. Covers 4002, 4004and 4006 are used to protect the internal components of mobile rover4000 and to provide improved visual aesthetics.

Referring specifically to FIG. 37, the upper waste container 4200comprises an upper canister 4218 that is slightly frusto-conical inshape, but appears cylindrical. The upper canister 4218 defines an upperwaste chamber 4220 for collecting and holding medical/surgical waste. Acover or cap 4222 covers the upper canister 4218 closing upper wastechamber 4220. A lower storage tank 4202 includes waste container 4224that is generally cube shaped. Waste container 4224 defines a lowerwaste chamber 4226 for holding waste material. The lower waste container4224 has a top surface 4227, bottom surface 4228 and four side surfaces4229.

Storage tank 4202 is not used to collect fluid waste. Storage tank 4202is used to store fluid waste. The storage tank 4202 has a relativelylarge interior volume, between approximately 30 and 100 liters. Theupper canister 4218 has a smaller volume, between approximately 3 and 10liters. Canister 4218 and cap 4222 can be formed from molded plastic atleast a portion of which is transparent. The storage tank 4202 can beformed from roto-molded or blow molded plastic materials.

A support structure 4230 is attached to storage tank top surface 4227 byfasteners (not shown). Support structure 4230 has four downwardlyextending legs 4232 that are mounted to top surface 4227. Upper canister4218 is mounted to support structure 4230 by fasteners (not shown). Theupper canister 4218 is spaced above and from storage tank 4202 by thelength of legs 4232. The support structure 4230 holds the upper wastecontainer 4200 above the storage tank 4202.

A mobile rover upper waste coupler 4700 is mounted to cap 4222 andextends perpendicular upwards from cap 4222. An elbow fitting 4498 ismounted and retained to cap 4222. The elbow fitting 4498 is in fluidcommunication with upper waste chamber 4220. One end of vacuum hose 4496is connected to elbow fitting 4498 and the other end of vacuum hose 4496is connected to mobile rover suction or vacuum coupler 4600 (FIG. 28).Vacuum hose 4496 connects upper waste chamber 4420 to one of mobilerover vacuum couplers 4600 and provides a fluid communication pathbetween the upper waste container 4200 and mobile rover vacuum coupler4600.

Another elbow fitting 4512 is mounted through an opening 4508 in storagetank top surface 4227 and is in fluid communication with lower wastechamber 4226. One end of vacuum hose 4510 is connected to elbow fitting4512 and the other end of vacuum hose 4510 is connected to mobile rovervacuum coupler 4600 (FIG. 28). Vacuum hose 4512 connects the lower wastecontainer 4224 to one of mobile rover vacuum couplers 4600 and providesa fluid communication path between storage tank 4202 and mobile rovervacuum coupler 4600.

FIGS. 39 and 40 illustrate details of cap 4222 and mobile rover upperwaste coupler 4700. Referring to FIGS. 39 and 40, cap 4222, is generallydome-shaped with a peripheral lip 4250 that engages a rim 4238 of thecanister 4218 with a elastomeric seal 4246 trapped there between. AV-clamp 4254 secures the cap 4222 to canister 4218 by clamping theperipheral lips 4250 to the rim 4238.

The cap 4222 has an upwardly projecting boss 4260. A vacuum port orconduit 4264 is defined through boss 4260 and cap 4222 into the upperwaste chamber 4220. A ninety degree elbow joint 4498 is mounted into thevacuum port 4264. The elbow joint 4498 has one end connected to thevacuum port 4264 and the other end connected to vacuum hose 4496. Oneend of elbow joint 4498 can be press fit into vacuum port 4264 and theother end press fit into vacuum hose 4496. The other end of vacuum hose4496 is connected to rover vacuum coupler 4600.

Several mounting features 4268 and webs 4270 are formed on the top outersurface of cap 4222. The webs 4270 add rigidity and strength to cap4222. The mobile rover upper waste coupler 4700 is mounted to mountingfeatures 4268 using fasteners 4272. Mobile rover upper waste coupler4700 has a planar base 4702 and a cylindrical waste conduit 4704 that isperpendicular to base 4702. A bore 4705 extends through waste conduit4704. Several gussets 4706 are formed between the base 4702 and theconduit 4704 to add structural rigidity to the upper waste coupler 4700.The waste conduit 4704 functions as a waste fluid communications pathfrom the chassis waste coupler 5600 into the mobile rover upper wastecontainer 4200.

The waste conduit 4704 further includes opposed ends 4710 and 4712. Anannular groove 4714 is defined in an outer surface of waste conduit 4704adjacent to end 4712 and contains a rubber seal 4716. The end 4712 isreceived by an annular sleeve 4274 formed on cap 4222. The sleeve 4274has a thru bore that extends into waste chamber 4220.

A vacuum seal is formed by seal 4716 between the inner surface of sleeve4274 and the outer surface of waste conduit 4704. An Outlet 4276 extendsdownwardly from the bottom surface of cap 4222 and is formed as part ofthe cap 4222. The outlet 4276 is in fluid communication with wasteconduit 4704. The outlet 4276 directs the flow of waste material awayfrom a center axis of the waste canister 4218 toward the outer wall ofthe canister.

The waste conduit end 4710 is tapered and has an annular groove 4720that is defined in an outer surface of the waste conduit adjacent to end4710. A rubber seal 4722 is mounted in groove 4720. When the mobilerover 4000 is mated with the chassis 3100, waste conduit 4704 isreceived by waste coupler 5600.

Specifically, the waste conduit end 4710 slides over the waste couplerangled surface 5626 until the waste conduit end 4710 enters recess 5624and slides into beveled counter bore 5622. The rubber seal 4722 forms avacuum seal 4701 between the inner surface 5623 of the beveled counterbore 5622 and the outer surface of waste conduit 4704 at end 4710. Thecompression of seal 4722 between the inner surface 5623 and the outersurface of waste conduit 4704 substantially eliminates loss of suctionbetween the rover upper waste coupler 4700 and the chassis waste coupler5600.

Returning to FIGS. 28 and 29, a transfer valve 4280 is disposed betweenthe upper waste container 4200 and storage tank 4202 to facilitateemptying of the waste material from the upper waste container 4200 tothe storage tank 4202 via gravity. The transfer valve 4280 can beselectively closed to seal the vacuum path between the upper wastecontainer 4200 and storage tank 4202 to allow independent vacuumregulation. In the open position, waste material present in the upperwaste container 4200 drains, under the force of gravity, to storage tank4202. In the closed position, waste material is retained in the upperwaste container 4200. In one embodiment, a low level of vacuum can bedrawn by storage tank 4202 to assist with drainage of waste materialfrom upper waste container 4200 into storage tank 4202. The transfervalve 4280 can be a ball valve. Transfer valve 4280 allows mobile rover4000 to hold a larger quantity of waste and be used during severalmedical procedures before emptying is required.

Transfer valve 4280 is moved by a transfer valve actuator or motor 4282.Transfer valve motor 4282 is coupled to the transfer valve 4280 to movethe transfer valve 4280 between an open position in which fluidcommunication occurs between upper waste container 4200 and storage tank4202 and a closed position in which fluid communication between upperwaste container 4200 and storage tank 4202 is blocked. Transfer valve4280 and transfer valve motor 4282 are both mounted between the top ofstorage tank 4202 and support structure 4230.

Pressure sensor 1698 is in fluid communication with suction fluidcommunication path 3070 in order to measure the level of vacuum drawn onthe suction fluid communication path 3070 and by extension container4200. Pressure sensor 1698 generates a pressure signal that correspondsto the vacuum level in suction fluid communication path 3070. Similarly,another pressure sensor 1699 is in fluid communication with suctionfluid communication path 3072 in order to measure the level of vacuumdrawn on the suction fluid communication path 3072 and by extensioncontainer 4202. Pressure sensor 1699 generates a pressure signal thatcorresponds to the vacuum level in suction fluid communication path3072. While pressure sensors 1698 and 1699 are shown mounted betweencontainers 4200, 4202 and couplers 4600, pressure sensors 1698 and 1699can be mounted anywhere in their respective suction fluid communicationpaths 3070, 3072 downstream of vacuum regulators 3222 and 3224. In oneembodiment, pressure sensor 1698 is mounted in container 4200 andpressure sensor 1699 is mounted in container 4202. In anotherembodiment, pressure sensors 1698 and 1699 are mounted in chassis cart3100 downstream of vacuum regulators 3222 and 3224.

With reference to FIGS. 41 and 42, mobile rover 4000 includes a guideapparatus 4870 that is adapted to guide floating coupler mechanism 3300(FIG. 26) into the guide apparatus 4870 when mobile rover 4000 is matedwith chassis 3100. The guide apparatus 4870 is mounted to the bottomsurface 4209 of mobile rover frame 4204. Guide apparatus 4870 comprisesa spaced apart pair of elongated guide rails 4872 and a pair of guideplates 4874. The guide rails 4872 are formed integral with water anddrain manifold 4900. Guide plates 4874 are coupled to the integral guiderails 4872 by fasteners 4876. Fasteners 4876 also attach water and drainmanifold 4900 to frame 4204. The guide rails 4872 and guide plates 4874are located on opposite sides of an opening 4878 in frame 4204. Opening4878 is located toward a proximal edge of frame 4204. The guide rails4872 have rounded ends that extend away from the center axis of frame4204 and the guide plates 4874 have rounded edges. Guide rails 4872 areoriented generally perpendicular to the frame bottom surface 4209 andguide plates 4872 are mounted perpendicular to the guide rails 4872.

The guide apparatus 4870 further includes four rounded guide shoulders4880 that extend upwardly from the proximal edge of frame 4204 adjacentopening 4878 and between guide rails 4872.

The guide rails 4872 are formed with a proximal directed opening angleto each other such that the distance between the ends of guide rails4872 adjacent to shoulder 4880 is greater than the distance between theends of guide rails 4872 adjacent to posts 4882. The guide plates 4874are mounted at an angle to the frame bottom surface 1209. The proximalends of guide plates 4874 toward shoulder 4880 are positioned lower thanthe distal ends of the guide plates 4874.

A vacuum and drain manifold 4900 is mounted to frame 4204 over opening4878. The vacuum and drain manifold 4900 includes a lower waste draincoupling or waste drain port 4902, a water coupling or port 4904 and twovacuum couplings 4600 all of which face in a downward direction from themanifold 4900 into the opening 4878. The vacuum and drain manifold 4900is mounted to frame 4204 using fasteners (not shown). Vacuum couplings4600 are also used as guide pin receptacles when mobile rover 4000 isdocked to static docker 900 (FIG. 4). The waste drain port 4902 andwater port 4904 are connected to the static docker 900 in order tofacilitate the emptying of waste and cleaning of upper waste container4200 and storage tank 4202 (FIG. 37).

Continuing to refer to FIGS. 41 and 42, details of rover vacuum coupling4600 are shown. Rover vacuum coupling 4600 mates with chassis vacuumcoupling 3400 (FIG. 32) when mobile rover 4000 is mated with chassis3100. Vacuum and drain manifold 4900 has a generally rectangular shapedhousing 4920 that is mounted to frame 4204 over opening 4878. Housing4920 has a top surface 4922, a bottom surface 4924 and a roundedproximal facing 4880. The housing 4920 also has a peripheral lip 4928that extends from three sides of housing 4920 through opening 4878 andrests in contact with the frame bottom surface 4209.

Rover vacuum coupling 4600 is defined by a bore 4602 that extendsthrough housing 4920 and a beveled counter bore 4604 that extends fromhousing bottom surface 4924 into housing 4920 approximately one thirdthe thickness of housing 4920. The beveled counter bore 4604 is definedby a downward facing truncated cone shaped surface 4606. A circularopening 4608 is defined where surface 4606 intersects housing bottomsurface 4924.

The rover vacuum coupling 4600 further includes two cylindrical conduits4610 that extend perpendicularly away from the housing top surface 4922.The conduits 4610 can be integrally formed with housing 4920. Conduits4610 each have an end 4612 that is attached to housing top surface 4922,an opposed end 4614 and a bore 4616 that is continuous with bore 4602.

A ninety degree elbow fitting 4620 is attached to each conduit end 4614.Each elbow fitting 4620 has a central body 4622, a downward facing end4624 and a distal facing barbed end 4626. One elbow fitting barbed end4626 receives the end of vacuum hose 4496 and the other elbow fittingbarbed end 4626 receives the end of vacuum hose 4510. An annular groove4630 is defined on the interior surface of the fitting end 4624. Arubber seal 4632 is seated in the annular groove 4630. The elbow fittingend 4624 is press fit over conduit end 4614 such that rubber the rubberseal 4632 is compressed between the outer surface of conduit 4610 andthe inner surface of elbow fitting end 4624 forming a vacuum seal.

A mobile rover power and data coupler 4800 is shown in FIGS. 37 and 41.Rover power and data coupler 4800 receives low voltage electrical powerand data from chassis power and data coupler 3500 (FIG. 31) when mobilerover 4000 is mated with chassis 3100. This electric power is used byvarious systems of the mobile rover 4000. The power and data coupler4800 passes control (e.g. via release button 4015) and measurementinformation (e.g. via level sensor 4962) between the rover and mobilechassis. Rover power and data coupler 4800 receives electrical power viaelectrical contacts from chassis 3100 to mobile rover 4000.

Four slots 4801 are defined between the four frame shoulders 4880. Bladereceptacles 4802, 4804 and 4810 are mounted to a proximal portion of thevacuum and drain housing 4920. The blade receptacles 4802, 4804 and 4810are positioned adjacent and face into slots 4801 and can be accessedthrough slots 4801. The blade receptacles 4802, 4804 and 4810 arebifurcated and spring loaded. The blade contacts 3502, 3504 and 3510(FIG. 31) slide into and are grasped by the blade receptacles 4802, 4804and 4810, respectively.

More specifically, a power receptacle 4802 mates with the power contact3502 to provide a positive electrical potential to mobile rover 4000. Aground receptacle 4804 mates with the ground contact 3504 to provideground electrical potential to mobile rover 4000. Data receptacles 4810mate with the data contacts 3510 to facilitate data communicationsbetween the mobile rover 4000 and chassis 3100. The receptacles 4802,4804 and 4810 are formed from a conductive metal such as a copper alloyand may be plated to withstand arcing and prevent corrosion.

Turning to FIG. 42, a planar rectangular shaped mounting plate 4300extends perpendicularly upwards from the top surface 4207 of frame 4204.The mounting plate 4300 is formed from metal and is attached to frame4204. The mounting plate 4300 includes a proximal facing surface 4302and a distal facing surface 4304. Two cylindrical shaped drums 4310 aremounted to the proximal surface 4302 and also face in a proximaldirection. The drums 4310 are formed from a material that is attractedto a magnetic field such as steel. When the mobile rover 4000 is matedwith the chassis 3100, the drums 4310 face into receptacle 3124 (FIG.26), are attracted to and are drawn into contact with the electromagnet3160 (FIG. 26) when the electromagnet 3160 is energized. When energized,electromagnets 3160 hold mobile rover 4000 to chassis 3100.

C. Static Docker

With reference to FIG. 43, a water and drainage diagram of the mobilerover 4000 docked with the static docker 900 is illustrated. The mobilerover 4000 is emptied of accumulated medical/surgical waste and cleanedwhile docked with static docker 900. The static docker 900 includeswaste port 902 and water port 904. Waste port 902 and water port 904 arecoupled with respective waste port 4902 and water port 4904 of mobilerover 4000.

Water port 4904 is connected to a diverter valve 4906 through water line4908. Diverter valve 4906 regulates the flow of water and cleaningfluids to respective waste containers 4200 and 4202. A water line 4910connects the diverter valve 4906 to the sprinkler head 4180 in upperwaste container 4200. A water line 4912 connects the diverter valve 4906to the sprinkler head 4180 in storage tank 4202. The waste port 4902 isconnected to the bottom of storage tank 4202 by a spout 4914.

After the mobile rover 4000 has been docked with static docker 900, thestorage tank 4202 is emptied of accumulated waste by the static docker900. The transfer valve 4276 is in an open position during the emptyingoperation such that any waste in the upper waste container 4200 flowsinto the storage tank 4202. After the storage tank 4202 is empty, theupper waste container 4200 and the storage tank 4202 are cleaned bycleaning fluids pumped by static docker 900 through water port 4904,water line 4908, diverter valve 4906, water lines 4910, 4912 andsprinkler heads 4180 into the respective waste container 4200 andstorage tank 4202. The accumulated cleaning fluids are emptied throughwaste port 4902.

D. Power and Control System

FIG. 44 illustrates a schematic diagram of a power and control system4980 for providing electrical power and controlling the operation of thechassis 3100 and mobile rover 4000. The components of power and controlsystem 4980 are mounted within the chassis 3100 and mobile rover 4000. Apower cord 3154 extends from the mobile chassis 3100 terminating inpower plug 3156. The power plug 3156 is connected to an electricalreceptacle in the medical facility to facilitate connection to a utilitypower system.

The power cord 3154 and power plug 3156 are connected to a power supply3804. Power supply 3804 can supply one or more voltage and currentlevels to mobile chassis 3100. The power supply 3804 supplies power tosurgical modules 3140 through power cables 3152. The power supply 3804also supplies power to chassis controller 3802 through a power cable3153. A backup battery or ultra-capacitor 3805 is connected with powersupply 3804 through a power cable 3806 to supply backup power to chassis3100 in the event of a loss of primary power. A thermal managementsystem 3808 is mounted within chassis 3100 near surgical modules 3140and other electronic controls. The thermal management system 3808includes cooling devices such as fans and sensors to detect heat levels.The thermal management system 3808 is connected with power supply 3804through a power cable 3809.

A chassis controller 3802 comprises a controller or microprocessor andsolid state switches for controlling the operation of components ofchassis 3100. The controller 3802 is connected to the power and datacoupler 3500 through a power cable 3810 and a data cable 3812. The powerand data coupler 3500 transfers electrical power and data via electricalcontacts to mobile rover 4000. Mobile rover 4000 includes a power anddata coupler 4800 that is connected to a mobile rover controller 4952through a power cable 4954 and a data cable 4956. Electric power anddata is transferred through the mating of respective contacts andreceptacles in the power and data couplers 4500 and 4800.

When the mobile rover 4000 is docked with the static docker 900 (FIG.4), the rover power and data coupler 4800 allows the static docker 900to supply power to and communicate with mobile rover 4000 during thewaste emptying and cleaning procedures.

With additional reference to FIGS. 26 and 27, controller 3802 is furtherconnected to electromagnets 3160 via a power cable 3814. Electromagnets3160 are mounted to chassis 3100 and face towards receptacle 3124. Whenthe mobile rover 4000 is mated with the chassis 3100, the steel drums4310 are brought into close physical proximity to the electromagnet3160. When the rover 4000 is mated with chassis 3100 and power isinitially provided to rover 4000, controller 4952 automatically sends anelectrical signal through couplers 4800 and 3500 to controller 3802instructing controller 3802 to energize or turn on electromagnets 3160.When the electromagnets 3160 are energized, a magnetic field is createdthat draws the steel drums 4310 into contact with electromagnet 3160 andthereby retains the mobile rover 4000 to the chassis 3100.

A release button 4015 is mounted to mobile rover 4000 and is connectedto the controller 4952. When a user depresses the release button 4015,controller 4952 sends an electrical signal through the couplers 4800 and3500 to controller 3802 directing controller 3802 to de-energizeelectromagnet 3160. When electromagnet 3160 is de-energized, themagnetic field is removed, thereby releasing the mobile rover 4000 fromchassis 3100.

Referring to FIG. 44, the controller 3802 is also in communication witha control valve actuator 5430 through a power and data cable 5440. Thecontroller 3802 can selectively open and close or partially open any ofthe control valves 5400 using actuator 5430. The controller 3802 is incommunication with vacuum pump 3210 via a power and data cable 3820. Thecontroller 3802 controls the operation of vacuum pump 3210. Thecontroller 3802 is in communication with a HEPA filter memory device3822 via a power and data cable 3824. The controller 3802 can receive asignal from HEPA filter memory device 3822 indicating that the filterrequires changing.

The controller 3802 is also in communication with vacuum regulator 3222via a power and data cable 3826 and is in communication with vacuumregulator 3224 via a power and data cable 3828. Controller 3802 controlsthe operation of vacuum the regulators 3222 and 3224 in order toindependently regulate the vacuum level supplied to upper wastecontainer 4200 and storage tank 4202.

Controller 3802 is further in communication with a radio frequencyidentification device (RFID) reader 3830 via a power and data cable3832. The RFID reader 3830 reads information from RFID tags placed onvarious pieces of medical equipment and conveys the information tocontroller 3802. In one embodiment, RFID tags are placed on surgicalhandpieces 62, 66 (FIG. 2) such that controller 3802 recognizes the typeof handpiece 62, 66 being used and determines one or more operatingparameters for the mobile rover 4000 and chassis 3100.

The controller 3802 is also in communication with chassis control panel3162 via a power and data cable 3834. A user can view parameters andcontrol settings and the operation of the chassis 3100 and mobile rover4000 using control panel 3162. The controller 3802 is additionally incommunication with the surgical modules or instruments 3140 through datacables or bus 3168. Controller 3802 can receive data from the memory3143 integral with the instruments 3140 to control the vacuum regulators3222, 3224 so as to establish the level of suction drawn on thecontainers 4200, 4202 of the container cart 4000. The controller 3802receives the data from instrument 3140 memory and sets the level ofsuction drawn on the containers 4200, 4202 based on the data read fromthe memory of the instrument 3140.

Controller 3802 is further in communication with LED lights 3966 througha power cable 3968 and with LED lights 3970 through a power cable 3972.When the mobile rover 4000 is mated with the chassis 3100, the LEDlights 3966 mounted to chassis 3100 are positioned adjacent to upperwaste container 4202 and the LED lights 3970 mounted to chassis 3100 arepositioned adjacent to storage tank 4202. The controller 3802 turns LEDlights 3966 and 3970 on and off in order to backlight the upper wastecontainer 4200 and storage tank 4202.

The mobile rover controller 4952 is further in communication with therelease button 4015 through a power and data cable 4960. The controller4952 is in communication with a waste container and storage tank levelsensor 4962 through a power and data cable 4964. The level sensor 4962generates electrical signals that are representative of the level ofwaste in the upper waste container 4200 and the storage tank 4202.Controller 4952 is also in communication with the transfer valveactuator 4282 through a power and data cable 4966. The controller 4952can open and close or partially open transfer valve 4280 using actuator4282 to selectively control the flow of waste from upper waste container4200 into storage tank 4202. Controller 4952 is additionally incommunication with a diverter valve actuator 4907 through a power anddata cable 4970. The controller 4952 can open and close diverter valve4906 using the actuator 4907 to selectively control the flow of water toupper waste container 4200 and storage tank 4202.

Controller 4952 is in communication with pressure sensor 1698 through adata cable 1967. Data cable 1967 carries the pressure signal sensor 1698to controller 4952. Data cable 1971 carries the pressure signal fromsensor 1699 to controller 4952. The pressure signals are relayed fromrover controller 4952 via communication circuits 1856 and 620 to chassiscontroller 3802. Chassis controller 3802 regulates the vacuum drawn oncontainers 4200, 4202 based at least partially on the pressure sensorsignals. In one embodiment, controller 3802 controls the operation ofthe vacuum regulators 3222 and 3224 based on the pressure sensor signalsto independently regulate the vacuum level supplied to each of wastecontainers 4200 and 4202.

E. Operation of the Second Embodiment

Referring to FIGS. 26-28, the medical/surgical waste collection system3000 is prepared for use in the collection of medical/surgical waste.The chassis 3100 is located in an operating room/surgical area duringuse. Power plug 3156 is connected to a power source to supply power tochassis 3100. The chassis 3100 is turned on by an operator using controlpanel 3162.

With additional reference to FIGS. 31 and 41, an empty mobile rover 4000is mated with chassis 3100 by a user moving the mobile rover 4000 intochassis receptacle or void space 3124. As the mobile rover 4000 is movedinto void space 3124, the guide apparatus 4870 engages the floatingcoupler mechanism 3300. Specifically, as the mobile rover 4000 is movedtowards chassis 3100, the rover angled guide rails 4872 engage thechassis angled sections 3322 and the rover angled guide plates 4874engage the chassis lip 3324 causing the rover guide mechanism 4870 andchassis floating coupler mechanism 3300 to move into a centered positionwith respect to each other. At the same time, the chassis floatingcoupler mechanism 3300, through spring bracket 3302, can slightly moveor float allowing the chassis vacuum coupler 3400 and the chassis powerand data coupler 3500 to move slightly up or down in order to moreeasily be aligned with the respective rover vacuum coupler 4600 androver power and data coupler 4800.

Eventually, the rover power and data coupler 4800 will engage andcontact the chassis power and data coupler 3400 and steel drums 4310will contact electromagnet 3160 limiting the forward movement of mobilerover 4000. In this position, the rover power and data coupler 4800 isengaged with the chassis power and data coupler 3500 such that the roverreceptacles 4802, 4804 and 4810 are mated with respective chassiscontacts 3502, 3504 and 3510. The chassis power and data coupler 3400thereby provides electrical power to mobile rover 4000.

With additional reference to FIG. 44, after power is supplied to mobilerover 4000, the chassis controller 3802 begins data communication withthe rover controller 4952 through data contacts 3510 and receptacles4810. Controllers 3802 and 4952 initiate a start up sequence to preparethe waste collection system 3000 for operation. With the mobile rover4000 fully seated in chassis void space 3124, controllers 3802 and 4952can sense that the rover 4000 is mated with the chassis 3100 andautomatically energize electromagnet 3160. When chassis electromagnet3160 is energized, it attracts the rover steel drums 4310 such thatsteel drums 4310 are drawn into contact with electromagnet 3160.Continued energizing of electromagnet 3160 retains the mobile rover 4000to the chassis 3100.

Referring specifically to FIGS. 32, 42 and 45, as mobile rover 4000 ismated with chassis 3100, the rover vacuum coupler 4600 engages and mateswith the chassis vacuum coupler 3400. As the mobile rover 4000 is movedin a proximal direction into void space 3124, the bottom surface 4924 ofrover housing 4920 contacts tapered end 3411 of chassis elbow fitting3402 causing both of the elbow fittings 3402 and top plate 3304 to bepressed in a downward direction. The spring flex of spring bracket 3302allows this downward movement.

Continued proximal movement of mobile rover 4000, causes the roverbeveled counter bore 4604 to move into coaxial alignment and receivechassis tapered end 3411. The spring bracket 3302 urges fitting taperedend 3411 to move into the beveled counter bore 4604 such that seal 3420is seated and compressed against cone shaped surface 4606. Thecompression of seal 3420 forms a vacuum seal 4605 with the cone shapedsurface 4606 eliminating any loss of suction between the elbow fitting3402 and the housing 4920. A continuous suction fluid communication pathis defined through the rover vacuum coupler 4600 and the chassis vacuumcoupler 3400 by bores 4616, 4602, 3414 and 3440. The cart componentsinclude the housing 4920 that receives the chassis mechanical couplers3400 and forms a mechanical interlock that releasably holds thecontainer cart 4000 and the suction cart 3100 together as a single unit.Specifically, the chassis vacuum coupler tapered end 3411 engages thehousing counter bore 4604 forming a mechanical detent 4603 thatreleasably holds the container cart 4000 and suction cart 3100 togetheras a single unit.

Turning to FIGS. 36 and 40, as the mobile rover 4000 is mated withchassis 3100, the rover upper waste coupler 4700 also engages and mateswith chassis waste coupler 5600. As mobile rover 4000 is moved in aproximal direction into void space 3124, the rover waste conduit 4704 isreceived by the chassis waste coupler 5600.

Specifically, with mobile rover 4000 moving in a proximal direction, therover waste conduit tapered end 4710 slides into chassis opening 3127and contacts the chassis angled surface 5626. The abutment of taperedend 4710 sliding against angled surface 5626 causes the waste couplerbody 5601 to be urged upwards overcoming the downward bias generated byspring clips 5640. With continued movement in a proximal direction, thewaste conduit tapered end 4710 will enter recess 5624 and then slideinto the beveled counter bore 5622. The spring clips 5640 urge the wastecoupler body 5601 to move in a downward direction such that the counterbore cone shaped surface 5623 is seated and compressed against seal4722. The compression of seal 4722 forms a vacuum seal 4701 with thecone shaped surface 5623 eliminating any loss of suction between couplerbody 5601 and waste conduit 4704. A continuous suction fluidcommunication path is defined through rover upper waste coupler 4700 andchassis waste coupler 5600 by bores 4705, 5620 and 5622. The cartcomponents include the waste coupler body 5601 that receives the wasteconduit 4704 and forms a mechanically interlock that releasably holdsthe container cart 4000 and the suction cart 3100 together as a singleunit. Specifically, the conduit tapered end 4710 engages the bodybeveled counter bore 5622 forming another mechanical detent 4711 thatreleasably holds the container cart 4000 and the suction cart 3100together as a single unit.

With reference to FIGS. 26, 27, 33A and 34, one or more new disposableinlet fittings 5100 are attached to one or more corresponding inletfitting receivers 5200. A user grasps cap skirt 5158 and inserts barrel5102 into the receiver bore 5212. Post 5210 is aligned with slot 5166and the inlet fitting 5100 is moved in a proximal direction until barrel5102 is seated in bore 5212. The barrel proximal end 5108 abuts valvebody 5402 and distal end 5204 abuts the proximal face of flange 5156.Skirt 5158 and inlet fitting 5100 are then rotated clockwise such thatpost 5210 slips into recess 5168 thereby locking the inlet fitting 5100to the inlet fitting receiver 5200.

One or more suction lines 62, 64 are connected to one or more of thedisposable inlet fittings 5100. The control valves 5400 allow thesuction or vacuum to each of the suction lines 60, 64 to beindependently controlled. The control panel 3162 allows a user toselectively turn on and off or partially open each of control valves5400. This allows the user to switch off suction to the suction lines atwill, reducing noise in the operating room.

Because the suction lines 62, 64 are attached to the chassis 3100 viainlet fittings 5100, when mobile rover 4000 becomes full of waste,another empty mobile rover can be exchanged for the full mobile roverduring the medical procedure without the need to disconnect the suctionlines 62, 64 going to the surgical field. In addition, other cables andtubes (not shown) extending from surgical modules or equipment 3140 donot need to be disconnected when changing mobile rover 4000. This allowsfor quick replacement of a full mobile rover for an empty mobile roverand minimizes any interruption to surgical procedures where largevolumes of fluid waste are collected.

In one embodiment, the operation of control valves 5400 are controlledby one or more medical/surgical instruments or modules 3140. This allowsthe medical/surgical instruments to work in cooperation with each otherto improve performance. For example, an arthroscopy pump interactingwith control valves connected to an outflow cannula could better controlthe flow of distending fluid into and out of a joint to minimize thevolume of fluid used while maintaining visibility and joint distensionpressure.

With further reference to FIGS. 28 and 44, the control panel 3162 allowsa user to selectively turn on and off vacuum pump 3210 and toselectively change the amount of vacuum drawn using vacuum regulators3222, 3224 within one or both of upper waste container 4200 or storagetank 4202.

The vacuum pump 3210 creates a continuous suction fluid communicationpath 3070 that is formed from the suction applicator 62 or 66 (FIG. 26)to the suction or vacuum pump 3210. When vacuum pump 3210 is activated,the resultant suction draws waste matter into the respective suctionapplicator 62 or 66 as selected by a user. Suction fluid communicationpath 3070 is sometimes called a vacuum path 3070.

With the vacuum pump 3210 in operation and the control valve 5400 in anopen position, the waste stream associated with suction fluidcommunication path 3070 travels from the suction applicator 62 intosuction line 60 through disposable inlet fitting 5100 through inletfitting receiver 5200 through control valve 5400 and through elbowfitting 5380 (FIG. 40). With reference to FIG. 40, the suction fluidcommunication path 3070 continues through vacuum hose 5520, throughfitting 5510, through manifold 5500, through chassis valve coupler body5601, through rover waste conduit 4704 and exiting from outlet 4276 intoupper waste container 4200 where the waste stream is deposited.

Turning to FIGS. 28, 37 and 45, from the upper waste container 4200, thesuction fluid communication path 3070, now consisting primarily of air,travels into elbow fitting 4498 and vacuum hose 4496 through elbowfitting 4620 into bore 4602 of housing 4920 and elbow fitting 3402. Fromthe elbow fitting 3402, the suction fluid communication path 3070continues into vacuum hose 3444 (FIG. 32) through vacuum regulator 3222(FIG. 28) into check valve 3226 through vacuum hose 3242 and HEPA filter3232 into vacuum hose 3244 ending at vacuum pump 3210.

Turning to FIGS. 28, 37 and 45, from storage tank 4202, the suctionfluid communication path 3072, consisting primarily of air, travels intoelbow fitting 4512 and vacuum hose 4510 through elbow fitting 4620 intobore 4602 of housing 4920 and elbow fitting 3402. From elbow fitting3402, the suction fluid communication path 3072 continues into vacuumhose 3444 (FIG. 32) through vacuum regulator 3222 (FIG. 28) into checkvalve 3226 through vacuum hose 3242 and HEPA filter 3232 into vacuumhose 3244 ending at vacuum pump 3210.

Liquid waste and small pieces of solid waste are deposited into upperwaste container 4200. Once the upper waste container is full or isdesired by a user to be emptied, a user can elect to transfer the wasteinto storage tank 4202 using transfer valve 4280. The waste is therebystored until being emptied.

During the operation of waste collection system 3000, various operatingstates or parameters can be controlled by a user and waste collectionsystem 3000 can alert a user to various operating conditions. In oneembodiment, a user can elect to illuminate the contents of either wastecontainer 4200 or storage tank 4202 using the control panel 3162 to turnlight emitting diodes 3966 or 3970 (FIG. 44), respectively on. Inanother embodiment, the level sensor 4962 (FIG. 44) can detect wheneither upper waste container 4200 or storage tank 4202 is approachingbeing filled and can send a level sensor signal representative of anoperating state of waste collection system 3000 to control panel 3162 toalert a user of this condition.

Medical personnel may also operate the surgical modules 3140 during orseparate from the operation of waste collection system 3000 in order toperform various surgical functions.

After a period of time, when the upper waste container 4200 is beingused, the upper waste container 4200 will become full and need to beemptied, or the operator may elect to empty the upper waste containerbefore being filled. At this point, the user uses control panel 3162 todirect the transfer valve actuator 4282 (FIG. 44) to open the transfervalve 4280 (FIG. 44) and transfer waste material from the upper wastecontainer 4200 to the storage tank 4202.

As shown in FIG. 28, vacuum pump 3210 also creates a continuous suctionfluid communication path 3072 that is formed from the storage tank 4202to the suction or vacuum pump 3210. Suction fluid communication path3072 is sometimes called a vacuum path 3072. The suction fluidcommunication path 3072 is used during the transfer of waste from upperwaste container 4200 into storage tank 4202. A low level of vacuum canbe provided by suction fluid communication path 3072 in the storage tank4202 in order to assist with the drainage of stored waste from the upperwaste container 4200 into the storage tank 4202 through transfer valve4280. Minimizing the level of vacuum used to transfer waste reduces therequirements for the strength of storage tank 4202. This allows for thestorage tank to be made with flat walls rather than cylindrical orspherical walls. A storage tank with flat sides allows much largervolumes of fluid to be stored in the same floor space. The reducedstrength requirement also allows for greater flexibility in materialselection and manufacturing processes.

During transfer of waste material from the upper waste container 4200 tothe storage tank 4202, the vacuum present in the upper waste container4200 is vented to atmospheric pressure through vacuum regulator 3222.The vacuum in the storage tank 4202 is set to a pressure lower than thevacuum level of the upper waste container 4200. As a result, the vacuumin the storage tank 4202 assists in pulling waste material into thestorage tank 4202 through transfer valve 4280.

Once both the upper waste container 4200 and storage tank 4202 arefilled, or if the user desires to empty and clean the upper wastecontainers 4200 and/or storage tank 4202 prior to being filled, the usercan turn off vacuum pump 3210 using control panel 3162. The button 1015(FIG. 27) is then depressed in order to de-activate electromagnet 3160.With the electromagnet 3160 de-activated, medical personnel can removeor disconnect the rover 4000 from the chassis 3100 by pulling on handle4012 (FIG. 27) in a distal direction away from chassis 3100.

The mobile rover 4000 is then rolled from the surgical area to a staticdocker 900 (FIG. 4) to off-load the waste material to the treatmentfacility 910 (FIG. 4) and to clean waste container 4200 and storage tank4202.

V. Fourth Embodiment

FIG. 46 illustrates an alternative embodiment of a medical/surgicalwaste collection system 6000 constructed in accordance with the presentinvention. Waste collection system 6000 comprises a static chassis 6100that is used with the mobile rover 4000 (FIG. 27). Static chassis 6100is similar to chassis 3100 except that static chassis 6100 is recessedor mounted into a wall 6002 of the operating room/surgical area 52. Themounting of static chassis 6100 into wall 6202 can increase theavailable floor space within the operating room/surgical area 52. Aperipheral flange 6004 extends outwardly from the sides and top ofstatic chassis 6100 and extends over wall 6002. The internal componentsand operation of static chassis 6100 are the same as previouslydescribed for chassis 3100.

VI. Alternative Embodiments

While the invention has been described with reference to exemplaryembodiments, it will be understood by those skilled in the art thatvarious changes may be made and equivalents may be substituted forelements and features thereof without departing from the scope of theinvention. For example, it is contemplated that elements and/or featuresof one embodiment may be combined or substituted with elements and/orfeatures of another embodiment. In addition, many modifications may bemade to adapt a particular system, device or component thereof to theteachings of the invention without departing from the essential scopethereof. It is intended that the invention not be limited to theparticular embodiments disclosed for carrying out this invention.

For example, not all versions of the inventions may have all thefeatures described. The features of the different embodiments of theinvention may be combined. Likewise, there is no requirement that allversions of the invention include the described highly mobile rover1000, 4000. In some versions of the invention rovers 1000 and 4000 canbe static units.

In one embodiment, the control valves 5400 (FIG. 28) can be omitted fromchassis 3100 such that when vacuum pump 3210 is in operation, continuoussuction is provided to all three disposable inlet fittings 5100. Inanother embodiment, the control valves 5400 and inlet fittings 5100(FIG. 28) can be removed from chassis 3100 and mounted to mobile rover4000 with rover controller 4952 controlling the operation of controlvalves 5400. In this embodiment, the waste couplings 4700 and 5600 arenot required and may be omitted.

In an additional embodiment of the invention, one of the surgicalmodules 3140 (FIG. 44) can be an irrigation pump and control system thatsupplies irrigation fluid to a surgical site. The surgical module 3140can be in communication with the chassis controller 3802 (FIG. 44). Whenthe irrigation pump operates to supply irrigation fluid to the surgicalsite, the controller 3802 can detect the operation of the irrigationpump and automatically turn on vacuum pump 3210 and one of controlvalves 5400 in order to supply suction to the surgical site. Therefore,whenever the surgical site is being flushed with irrigation fluid, oneor more of the suction lines are automatically providing suction toremove waste fluids and debris generated during the surgical procedure.

In some versions of the invention the components that releasably holdthe carts 100 and 1000 together may be attached to the waste collectioncart 1000. Thus the magnet or moving mechanical member may be attachedto cart 1000. Based on a signal from controller 802 to the suction cart1000 the component that releasably holds the carts 100 and 1000 togetheris actuated and deactuated.

In not all versions of the invention will the rover include a receiverfor holding a replaceable manifold. In these versions of the invention,the receiver may be a simple fitting that receives a suction line.Likewise, the receiver may be some device that receives some type offluid coupling from which a suction line extends.

In some versions of the invention, the transmission of data and/orinstruction signals between at one end the chassis or suction cart andat the other end the container cart may be a wireless connection. Thisconnection may be either at frequencies associated with inductivecoupling or higher frequencies associated with RF signal exchange.

The vacuum regulators may function differently from what is disclosed.Thus in some versions of the invention, the vacuum regulator may simplycontrol the on/off state of the vacuum pump and/or the operating rate ofthe vacuum pump.

In some versions of the invention, when the rover is first mated to thechassis after the chassis controller 802 sends an interrogation requestto the rover controller 1952. The rover controller 1952 must respondwith the appropriate recognition code. If the chassis controller 802does not receive the appropriate authentication code the chassiscontroller will not activate the pump 210. This prevents a suction frombe drawn on a container not specifically designed for use with thechassis.

Therefore, it is an object of the appended claims to cover all suchvariations and modifications that come within the true spirit and scopeof this invention.

The invention claimed is:
 1. A waste collection system for collectingmedical/surgical waste, said system comprising: a mobile rovercomprising at least one waste container supported on said mobile roverfor storing the medical/surgical waste collected from a patient with asuction line; a chassis separate from said mobile rover and configuredbe removably coupled with said mobile rover; a vacuum pump supported onsaid chassis and configured to draw a vacuum on said at least one wastecontainer when said mobile rover is coupled with said chassis; a rovercontroller supported on said mobile rover and configured to receive apressure signal representative of a level of the vacuum drawn on said atleast one waste container; and a chassis controller supported on saidchassis and configured to be in communication with said rover controllerwith said chassis controller configured to regulate the level of thevacuum drawn on said at least one waste container based on the pressuresignal received by said rover controller.
 2. The waste collection systemof claim 1, further comprising a pressure sensor supported on saidmobile rover and in communication with said rover controller, whereinsaid pressure sensor is configured to generate the pressure signal andsaid rover controller is configured to receive the pressure signal. 3.The waste collection system of claim 1, further comprising a vacuumregulator supported on said chassis and in communication with saidchassis controller with said chassis controller configured to control atleast one of said vacuum pump and said vacuum regulator to establish thelevel of the vacuum drawn on said at least one waste container based onthe pressure signal received by said rover controller.
 4. The wastecollection system of claim 1, wherein each of said mobile rover and saidchassis further comprise complementary signal couplers for establishinga communication circuit between said rover controller and said chassiscontroller for transmitting the pressure signal from said rovercontroller to said chassis controller.
 5. The waste collection system ofclaim 1, further comprising: an inlet fitting configured to removablyreceive the suction line; and a control valve operably coupled to saidinlet fitting with said chassis controller configured to control saidcontrol valve to regulate flow of the vacuum through said inlet fitting.6. The waste collection system of claim 5, wherein said inlet fitting issupported on said chassis.
 7. The waste collection system of claim 1,further comprising at least one waste container level sensor supportedon said mobile rover and in communication with said at least one wastecontainer with said at least one waste container level sensor configuredto generate a waste level signal and transmit the waste level signal tosaid rover controller.
 8. The waste collection system of claim 1,further comprising: a transmitter supported on said mobile rover and incommunication with said rover controller; and a receiver supported onsaid chassis with said receiver and said transmitter in communicationwhen said mobile rover is coupled with said chassis to establish acommunication circuit for transferring data between said rovercontroller and said chassis controller.
 9. The waste collection systemof claim 1, further comprising a display assembly coupled to saidchassis and in communication with said chassis controller, wherein saiddisplay assembly is configured to display information regarding anoperating state of said mobile rover based on the pressure signal.
 10. Awaste collection system for collecting medical/surgical waste, saidsystem comprising: a mobile rover comprising at least one wastecontainer supported on said mobile rover for storing themedical/surgical waste collected from a patient with a suction line; achassis separate from said mobile rover and configured be removablycoupled with said mobile rover; a vacuum pump supported on said chassisand configured to draw a vacuum on said at least one waste containerwhen said mobile rover is coupled with said chassis; a rover controllersupported on said mobile rover; a chassis controller supported on saidchassis; a transmitter supported on said mobile rover and incommunication with said rover controller; a receiver supported on saidchassis with said receiver and said transmitter in communication whensaid mobile rover is coupled with said chassis to establish acommunication circuit for transferring data between said rovercontroller and said chassis controller with said data comprising apressure signal representative of a level of the vacuum drawn on said atleast one waste container; and a display assembly coupled to saidchassis and in communication with said chassis controller, wherein saiddisplay assembly is configured to display information regarding anoperating state of the mobile rover based on said data, wherein saidchassis controller configured to regulate the level of the vacuum drawnon said at least one waste container based on the pressure signaltransmitted by said communication circuit from said rover controller tosaid chassis controller.
 11. The waste collection system of claim 10,further comprising a vacuum regulator in communication with said chassiscontroller with said chassis controller configured to control at leastone of said vacuum pump and said vacuum regulator to establish the levelof the vacuum drawn on said at least one waste container.
 12. The wastecollection system of claim 10, wherein each of said mobile rover andsaid chassis further comprise complimentary power couplers incommunication with one another when said mobile rover is coupled withsaid chassis to establish a power regulation circuit for transferringpower between said rover controller and said chassis controller.
 13. Thewaste collection system of claim 10, wherein said transmitter is aninfrared light emitting diode (IRLED) transmitter and said receiver isan IRLED receiver.
 14. The waste collection system of claim 10, whereinsaid chassis further comprises an electromagnet in communication withsaid chassis controller, wherein once said mobile rover is movablypositioned near said electromagnet to be coupled with said chassis, saidrover controller transmits instructions with said communication circuitto said chassis controller to energize said electromagnetic to couplesaid mobile rover with said chassis.
 15. The waste collection system ofclaim 14, wherein said chassis is a mobile chassis such that said mobilerover and said mobile chassis are configured to be repositioned togetherwith said electromagnet providing sufficient force to maintain thecoupling of said mobile rover and said chassis, and independentlymovable when said mobile rover and said mobile chassis are decoupled.16. The waste collection system of claim 11, further comprising at leastone instrument comprising memory in communication with said chassiscontroller with said at least one instrument configured to perform atleast one of controlling operation of a medical or surgical instrumentand monitoring a biological state of the patient, wherein said chassiscontroller configured to control at least one of said vacuum regulatorand said vacuum pump based on data in said memory of said at least oneinstrument.
 17. A waste collection system for collectingmedical/surgical waste, said system comprising: a mobile rovercomprising at least one waste container supported on said mobile roverfor storing the medical/surgical waste collected from a patient with asuction line; a chassis separate from said mobile rover and configuredbe removably coupled with said mobile rover; a vacuum pump supported onsaid chassis and configured to draw a vacuum on said at least one wastecontainer when said mobile rover is coupled with said chassis; a vacuumregulator supported on said chassis and in communication with saidchassis controller; a rover controller supported on said mobile rover; achassis controller supported on said chassis; complementary signalcouplers in communication with said rover controller and said chassiscontroller for establishing a communication circuit between said rovercontroller and said chassis controller when said mobile rover isremovably coupled with said chassis; and a pressure sensor supported onsaid mobile rover and in communication with said rover controller,wherein said pressure sensor is configured to generate a pressure signaland said rover controller is configured to receive the pressure signalwith said complementary signal couplers, and wherein said chassiscontroller is configured to control said vacuum regulator to regulate alevel of the vacuum drawn on said at least one waste container based onthe pressure signal transmitted by said communication circuit from saidrover controller to said chassis controller.
 18. The waste collectionsystem of claim 17, further comprising: a transmitter supported on saidmobile rover and in communication with one of said complementary signalcouplers; and a receiver supported on said chassis and in communicationwith another one of said complementary signal couplers.
 19. The wastecollection system of claim 17, wherein said complementary signalcouplers are electrical contacts supported on a respective one of saidmobile rover and said chassis.